Reviewerly/exHarmony huggingface dataset:
Learning Selective Sensor Fusion for State Estimation

Autonomous vehicles and mobile robotic systems are typically equipped with multiple sensors to provide redundancy. By integrating the observations from different sensors, these mobile agents are able to perceive the environment and estimate system states, e.g., locations and orientations. Although deep learning (DL) approaches for multimodal odometry estimation and localization have gained traction, they rarely focus on the issue of robust sensor fusion--a necessary consideration to deal with noisy or incomplete sensor observations in the real world. Moreover, current deep odometry models suffer from a lack of interpretability. To this extent, we propose SelectFusion, an end-to-end selective sensor fusion module that can be applied to useful pairs of sensor modalities, such as monocular images and inertial measurements, depth images, and light detection and ranging (LIDAR) point clouds. Our model is a uniform framework that is not restricted to specific modality or task. During prediction, the network is able to assess the reliability of the latent features from different sensor modalities and to estimate trajectory at both scale and global pose. In particular, we propose two fusion modules--a deterministic soft fusion and a stochastic hard fusion--and offer a comprehensive study of the new strategies compared with trivial direct fusion. We extensively evaluate all fusion strategies both on public datasets and on progressively degraded datasets that present synthetic occlusions, noisy and missing data, and time misalignment between sensors, and we investigate the effectiveness of the different fusion strategies in attending the most reliable features, which in itself provides insights into the operation of the various models.
Unsupervised Belief Representation Learning with Information-Theoretic Variational Graph Auto-Encoders

This paper develops a novel unsupervised algorithm for belief representation learning in polarized networks that (i) uncovers the latent dimensions of the underlying belief space and (ii) jointly embeds users and content items (that they interact with) into that space in a manner that facilitates a number of downstream tasks, such as stance detection, stance prediction, and ideology mapping. Inspired by total correlation in information theory, we propose the Information-Theoretic Variational Graph Auto-Encoder (InfoVGAE) that learns to project both users and content items (e.g., posts that represent user views) into an appropriate disentangled latent space. To better disentangle latent variables in that space, we develop a total correlation regularization module, a Proportional-Integral (PI) control module, and adopt rectified Gaussian distribution to ensure the orthogonality. The latent representation of users and content can then be used to quantify their ideological leaning and detect/predict their stances on issues. We evaluate the performance of the proposed InfoVGAE on three real-world datasets, of which two are collected from Twitter and one from U.S. Congress voting records. The evaluation results show that our model outperforms state-of-the-art unsupervised models by reducing 10.5% user clustering errors and achieving 12.1% higher F1 scores for stance separation of content items. In addition, InfoVGAE produces a comparable result with supervised models. We also discuss its performance on stance prediction and user ranking within ideological groups.
DV-QKD Coexistence With 1.6 Tbps Classical Channels Over Hollow Core Fibre

The feasibility of coexisting a quantum channel with carrier-grade classical optical channels over Hollow Core Nested Antiresonant Nodeless Fibre (HC-NANF) is experimentally explored for the first time in terms of achievable quantum bit error rate (QBER), secret key rate (SKR) as well as classical signal bit error rates (BER). A coexistence transmission of 1.6 Tbps is achieved for the classical channels simultaneously with a quantum channel over a 2 km-long HC-NANF with a total coexistence power of 0 dBm. To find the best and worst wavelength position for the classical channels, we simulated different classical channels bands with different spacing between the quantum and classical channels considering the crosstalk generated from both Raman scattering and four-wave-mixing (FWM) on the quantum channel. Following our simulation, we numerically estimate the best (Raman spectrum dip) and worst locations (Raman spectrum peak) of the classical channel with respect to its impact on the performance on the quantum channel in terms of SKR and QBER. We further implemented a testbed to experimentally test both single-mode fibre (SMF) and HC-NANF in the best and worst-case scenarios. In the best-case scenario, the spacing between quantum and classical is 200 GHz (1.6 nm) with 50 GHz (0.4 nm) spacing between each classical channel. The SKR was preserved without any noticeable changes when coexisting the quantum channel with eight classical channels at 0 dBm total coexistence power in HC-NANF compared to a significant drop of 73% when using SMF at <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$-$</tex-math></inline-formula> 24 dBm total coexistence power which is 250 times lower than the power used in HC-NANF. In the worst-case scenario using the same powers, and with 1 THz (8 nm) spacing between quantum and classical channels, the SKR dropped 10% using the HC-NANF, whereas in the SMF the SKR plummeted to zero.
Autonomous Exploration in a Cluttered Environment for a Mobile Robot With 2D-Map Segmentation and Object Detection

Frontier-based exploration is widely adopted for exploring an unknown region. The conventional frontier-based exploration for a mobile robot may collide with three-dimensional (3D) obstacles or can suffer from a slower exploration time because the robot may move to another place before completely exploring the current area. To solve this problem, in this letter, we propose a new exploration algorithm by considering a path traveled by a mobile robot and segmenting a two-dimensional (2D) map. The segmented 2D map is generated in real-time by using the position of the robot and the location of the detected frontiers. To apply our algorithm to the actual experiment, we develop an object detection-based exploration algorithm that can remarkably reduce the probability of collision with 3D obstacles. To verify the effectiveness of our proposed algorithm, we perform simulations (Gazebo) and experiments (in the real world) to compare the conventional approach and our algorithm in a cluttered environment. The simulation and experiment results show that our algorithm can satisfactorily shorten the exploration path and time.
UAV-based Receding Horizon Control for 3D Inspection Planning

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous UAV agent which is subject to dynamical and sensing constraints. We propose a receding horizon 3D inspection planning control approach for generating optimal trajectories which enable an autonomous UAV agent to inspect a finite number of feature-points scattered on the surface of a cuboid-like structure of interest. The inspection planning problem is formulated as a constrained open-loop optimal control problem and is solved using mixed integer programming (MIP) optimization. Quantitative and qualitative evaluation demonstrates the effectiveness of the proposed approach.
Identifying cultural differences in metacognition.

Some aspects of human metacognition, such as the ability to consciously evaluate our beliefs and decisions, are hypothesized to be culturally acquired. However, direct evidence for this claim is lacking. As an initial step toward answering this question, here we examine differences in metacognitive performance between populations matched for occupation (students), income, demographics and general intelligence but drawn from 2 distinct cultural milieus (Beijing, China and London, U.K.). Chinese participants showed more efficient metacognitive evaluation of perceptual decision-making task performance compared to U.K. participants. These differences manifested in boosts to postdecisional processing following error trials, despite no differences in first-order performance. In a second experiment, we directly replicate these findings and show that a metacognitive advantage generalizes to a task that replaces postdecision evidence with equivalent social advice. Together, our results are consistent with a proposal that metacognitive capacity is shaped via sociocultural interactions. (PsycInfo Database Record (c) 2022 APA, all rights reserved).
PEPPER

Recommender systems are proving to be an invaluable tool for extracting user-relevant content helping users in their daily activities (e.g., finding relevant places to visit, content to consume, items to purchase). However, to be effective, these systems need to collect and analyze large volumes of personal data (e.g., location check-ins, movie ratings, click rates .. etc.), which exposes users to numerous privacy threats. In this context, recommender systems based on Federated Learning (FL) appear to be a promising solution for enforcing privacy as they compute accurate recommendations while keeping personal data on the users' devices. However, FL, and therefore FL-based recommender systems, rely on a central server that can experience scalability issues besides being vulnerable to attacks. To remedy this, we propose PEPPER, a decentralized recommender system based on gossip learning principles. In PEPPER, users gossip model updates and aggregate them asynchronously. At the heart of PEPPER reside two key components: a personalized peer-sampling protocol that keeps in the neighborhood of each node, a proportion of nodes that have similar interests to the former and a simple yet effective model aggregation function that builds a model that is better suited to each user. Through experiments on three real datasets implementing two use cases: a location check-in recommendation and a movie recommendation, we demonstrate that our solution converges up to 42% faster than with other decentralized solutions providing up to 9% improvement on average performance metric such as hit ratio and up to 21% improvement on long tail performance compared to decentralized competitors.
Automatic computer science domain multiple-choice questions generation based on informative sentences

Students require continuous feedback for effective learning. Multiple choice questions (MCQs) are extensively used among various assessment methods to provide such feedback. However, manual MCQ generation is a tedious task that requires significant effort, time, and domain knowledge. Therefore, a system must be present that can automatically generate MCQs from the given text. The automatic generation of MCQs can be carried out by following three sequential steps: extracting informative sentences from the textual data, identifying the key, and determining distractors. The dataset comprising of various topics from the 9th and 11th-grade computer science course books are used in this work. Moreover, TF-IDF, Jaccard similarity, quality phrase mining, K-means, and bidirectional encoder representation from transformers techniques are utilized for automatic MCQs generation. Domain experts validated the generated MCQs with 83%, 77%, and 80% accuracy, key generation, and distractor generation, respectively. The overall MCQ generation achieved 80% accuracy through this system by the experts. Finally, a desktop app was developed that takes the contents in textual form as input, processes it at the backend, and visualizes the generated MCQs on the interface. The presented solution may help teachers, students, and other stakeholders with automatic MCQ generation.
PSO-Convolutional Neural Networks With Heterogeneous Learning Rate

Convolutional Neural Networks (ConvNets or CNNs) have been candidly deployed in the scope of computer vision and related fields. Nevertheless, the dynamics of training of these neural networks lie still elusive: it is <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">hard</i> and computationally expensive to train them. A myriad of architectures and training strategies have been proposed to overcome this challenge and address several problems in image processing such as speech, image and action recognition as well as object detection. In this article, we propose a novel Particle Swarm Optimization (PSO) based training for ConvNets. In such framework, the vector of weights of each ConvNet is typically cast as the position of a particle in phase space whereby PSO collaborative dynamics intertwines with Stochastic Gradient Descent (SGD) in order to boost training performance and generalization. Our approach goes as follows: <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$i$ </tex-math></inline-formula> ) [regular phase] each ConvNet is trained independently via SGD; <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$ii$ </tex-math></inline-formula> ) [collaborative phase] ConvNets share among themselves their current vector of weights (or particle-position) along with their gradient estimates of the Loss function. Distinct step sizes are coined by distinct ConvNets. By properly blending ConvNets with large (possibly random) step-sizes along with more conservative ones, we propose an algorithm with competitive performance with respect to other PSO-based approaches on Cifar-10 and Cifar-100 (accuracy of 98.31% and 87.48%). These accuracy levels are obtained by resorting to only four ConvNets– such results are expected to scale with the number of collaborative ConvNets accordingly. We make our source codes available for download <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/leonlha/</uri> PSO-ConvNet-Dynamics.
Replica Symmetry Breaking in Dense Hebbian Neural Networks

Understanding the glassy nature of neural networks is pivotal both for theoretical and computational advances in Machine Learning and Theoretical Artificial Intelligence. Keeping the focus on dense associative Hebbian neural networks (i.e. Hopfield networks with polynomial interactions of even degree $$P >2$$ ), the purpose of this paper is twofold: at first we develop rigorous mathematical approaches to address properly a statistical mechanical picture of the phenomenon of replica symmetry breaking (RSB) in these networks, then—deepening results stemmed via these routes—we aim to inspect the glassiness that they hide. In particular, regarding the methodology, we provide two techniques: the former (closer to mathematical physics in spirit) is an adaptation of the transport PDE to this case, while the latter (more probabilistic in its nature) is an extension of Guerra’s interpolation breakthrough. Beyond coherence among the results, either in replica symmetric and in the one-step replica symmetry breaking level of description, we prove the Gardner’s picture (heuristically achieved through the replica trick) and we identify the maximal storage capacity by a ground-state analysis in the Baldi-Venkatesh high-storage regime. In the second part of the paper we investigate the glassy structure of these networks: at difference with the replica symmetric scenario (RS), RSB actually stabilizes the spin-glass phase. We report huge differences w.r.t. the standard pairwise Hopfield limit: in particular, it is known that it is possible to express the free energy of the Hopfield neural network (and, in a cascade fashion, all its properties) as a linear combination of the free energies of a hard spin glass (i.e. the Sherrington–Kirkpatrick model) and a soft spin glass (the Gaussian or ”spherical” model). While this continues to hold also in the first step of RSB for the Hopfield model, this is no longer true when interactions are more than pairwise (whatever the level of description, RS or RSB). For dense networks solely the free energy of the hard spin glass survives. As the Sherrington–Kirkpatrick spin glass is full-RSB (i.e. Parisi theory holds for that model), while the Gaussian spin-glass is replica symmetric, these different representation theorems prove a huge diversity in the underlying glassiness of associative neural networks.
Modeling community standards for metadata as templates makes data FAIR

It is challenging to determine whether datasets are findable, accessible, interoperable, and reusable (FAIR) because the FAIR Guiding Principles refer to highly idiosyncratic criteria regarding the metadata used to annotate datasets. Specifically, the FAIR principles require metadata to be "rich" and to adhere to "domain-relevant" community standards. Scientific communities should be able to define their own machine-actionable templates for metadata that encode these "rich," discipline-specific elements. We have explored this template-based approach in the context of two software systems. One system is the CEDAR Workbench, which investigators use to author new metadata. The other is the FAIRware Workbench, which evaluates the metadata of archived datasets for their adherence to community standards. Benefits accrue when templates for metadata become central elements in an ecosystem of tools to manage online datasets-both because the templates serve as a community reference for what constitutes FAIR data, and because they embody that perspective in a form that can be distributed among a variety of software applications to assist with data stewardship and data sharing.
Artificial intelligence and change management in small and medium-sized enterprises: an analysis of dynamics within adaptation initiatives

Given the increasingly significant role of small and medium-sized enterprises (SMEs) in the global economy and the ever more competitive markets in which these companies operate, SMEs' ability to adopt artificial intelligence (AI) technologies is of utmost importance. Due to constantly evolving social, environmental, and technological scenarios, the managers of these firms must increasingly focus on incorporating new tools such as AI into SME operations in order to enjoy their benefits. However, the subjectivity and complexity of this adaptation process makes integrated analyses of key factors challenging. The present study sought to develop a multi-criteria decision-support system that applies cognitive mapping and the decision-making trial and evaluation laboratory technique in a neutrosophic context. The main objective is to overcome the limitations of previous studies and models by structuring the decision problem and identifying and understanding which factors should be central to adaptation initiative analyses. A panel of experts in AI were recruited to facilitate the construction of an analysis system that takes into account indeterminacy in decision-making processes. The results were validated by both the panel members and project managers at COTEC Portugal—a leading think-and-action network that seeks to advance technology diffusion and business innovation cooperation. The proposed system's practical implications and benefits are also analyzed.
Type-1 and Interval Type-2 Fuzzy Systems [AI- eXplained]

Fuzzy sets are suitable for modeling human linguistic uncertainties, and the resulting fuzzy systems can then be used to perform inferences based on a linguistic rulebase. They have been successfully used in numerous applications, particularly controls. This short paper introduces the basics of type-1 and interval type-2 fuzzy sets and systems, particularly for newcomers. The online full paper at IEEE Xplore provides detailed examples for better understanding, and interactive components for a hands-on exploration.
Toward incompatible quantum limits on multiparameter estimation

Achieving the ultimate precisions for multiple parameters simultaneously is an outstanding challenge in quantum physics, because the optimal measurements for incompatible parameters cannot be performed jointly due to the Heisenberg uncertainty principle. In this work, a criterion proposed for multiparameter estimation provides a possible way to beat this curse. According to this criterion, it is possible to mitigate the influence of incompatibility meanwhile improve the ultimate precisions by increasing the variances of the parameter generators simultaneously. For demonstration, a scheme involving high-order Hermite-Gaussian states as probes is proposed for estimating the spatial displacement and angular tilt of light at the same time, and precisions up to 1.45 nm and 4.08 nrad are achieved in experiment simultaneously. Consequently, our findings provide a deeper insight into the role of Heisenberg uncertainty principle in multiparameter estimation, and contribute in several ways to the applications of quantum metrology.
Pitfalls and potentials in simulation studies: Questionable research practices in comparative simulation studies allow for spurious claims of superiority of any method

Comparative simulation studies are workhorse tools for benchmarking statistical methods. As with other empirical studies, the success of simulation studies hinges on the quality of their design, execution and reporting. If not conducted carefully and transparently, their conclusions may be misleading. In this paper we discuss various questionable research practices which may impact the validity of simulation studies, some of which cannot be detected or prevented by the current publication process in statistics journals. To illustrate our point, we invent a novel prediction method with no expected performance gain and benchmark it in a pre-registered comparative simulation study. We show how easy it is to make the method appear superior over well-established competitor methods if questionable research practices are employed. Finally, we provide concrete suggestions for researchers, reviewers and other academic stakeholders for improving the methodological quality of comparative simulation studies, such as pre-registering simulation protocols, incentivizing neutral simulation studies and code and data sharing.
Quantum Stochastic Cocycles and Completely Bounded Semigroups on Operator Spaces II

Quantum stochastic cocycles provide a basic model for time-homogeneous Markovian evolutions in a quantum setting, and a direct counterpart in continuous time to quantum random walks, in both the Schrodinger and Heisenberg pictures. This paper is a sequel to one in which correspondences were established between classes of quantum stochastic cocycle on an operator space or C*-algebra, and classes of Schur-action `global' semigroup on associated matrix spaces over the operator space. In this paper we investigate the stochastic generation of cocycles via the generation of their corresponding global semigroups, with the primary purpose of strengthening the scope of applicability of semigroup theory to the analysis and construction of quantum stochastic cocycles. An explicit description is given of the affine relationship between the stochastic generator of a completely bounded cocycle and the generator of any one of its associated global semigroups. Using this, the structure of the stochastic generator of a completely positive quasicontractive quantum stochastic cocycle on a C*-algebra whose expectation semigroup is norm continuous is derived, giving a comprehensive stochastic generalisation of the Christensen--Evans extension of the GKS&L theorem of Gorini, Kossakowski and Sudarshan, and Lindblad. The transformation also provides a new existence theorem for cocycles with unbounded structure map as stochastic generator. The latter is applied to a model of interacting particles known as the quantum exclusion Markov process, in particular on integer lattices in dimensions one and two.