instruction:
In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.
question:
This paper proposes and experimentally validates a Bayesian network model of a range finder adapted to dynamic environments. All modeling assumptions are rigorously explained, and all model parameters have a physical interpretation. This approach results in a transparent and intuitive model. With respect to the state of the art beam model this paper: (i) proposes a different functional form for the probability of range measurements caused by unmodeled objects, (ii) intuitively explains the discontinuity encountered in the state of the art beam model, and (iii) reduces the number of model parameters, while maintaining the same representational power for experimental data. The proposed beam model is called RBBM, short for Rigorously Bayesian Beam Model. A maximum likelihood and a variational Bayesian estimator (both based on expectation-maximization) are proposed to learn the model parameters. Furthermore, the RBBM is extended to a full scan model in two steps: first, to a full scan model for static environments and next, to a full scan model for general, dynamic environments. The full scan model accounts for the dependency between beams and adapts to the local sample density when using a particle filter. In contrast to Gaussian-based state of the art models, the proposed full scan model uses a sample-based approximation. This sample-based approximation enables handling dynamic environments and capturing multimodality, which occurs even in simple static environments.
answer:
A Rigorously Bayesian Beam Model and an Adaptive Full Scan Model for Range Finders in Dynamic Environments


question:
Proposed methods for prediction interval estimation so far focus on cases where input variables are numerical. In datasets with solely nominal input variables, we observe records with the exact same input x, but different real valued outputs due to the inherent noise in the system. Existing prediction interval estimation methods do not use representations that can accurately model such inherent noise in the case of nominal inputs. We propose a new prediction interval estimation method tailored for this type of data, which is prevalent in biology and medicine. We call this method Distribution Adaptive Prediction Interval Estimation given Nominal inputs (DAPIEN) and has four main phases. First, we select a distribution function that can best represent the inherent noise of the system for all unique inputs. Then we infer the parameters θi (e.g. θi = [meani, variancei]) of the selected distribution function for all unique input vectors xi and generate a new corresponding training set using pairs of xi , θi. III). Then, we train a model to predict θ given a new xu. Finally, we calculate the prediction interval for a new sample using the inverse of the cumulative distribution function once the parameters θ is predicted by the trained model. We compared DAPIEN to the commonly used Bootstrap method on three synthetic datasets. Our results show that DAPIEN provides tighter prediction intervals while preserving the requested coverage when compared to Bootstrap. This work can facilitate broader usage of regression methods in medicine and biology where it is necessary to provide tight prediction intervals while preserving coverage when input variables are nominal.
answer:
DICTION INTERVAL ESTIMATION USING NOMINAL VARIABLES


question:
In this work we study variance in the results of neural network training on a wide variety of configurations in automatic speech recognition. Although this variance itself is well known, this is, to the best of our knowledge, the first paper that performs an extensive empirical study on its effects in speech recognition. We view training as sampling from a distribution and show that these distributions can have a substantial variance. These results show the urgent need to rethink the way in which results in the literature are reported and interpreted.
answer:

Training variance and performance evaluation of neural networks in speech