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.

[EX Q]: 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.
[EX A]: A Rigorously Bayesian Beam Model and an Adaptive Full Scan Model for Range Finders in Dynamic Environments

[EX Q]: Our experience of the world is multimodal we see objects, hear sounds, feel texture, smell odors, and taste flavors. Modality refers to the way in which something happens or is experienced and a research problem is characterized as multimodal when it includes multiple such modalities. In order for Artificial Intelligence to make progress in understanding the world around us, it needs to be able to interpret such multimodal signals together. Multimodal machine learning aims to build models that can process and relate information from multiple modalities. It is a vibrant multi-disciplinary field of increasing importance and with extraordinary potential. Instead of focusing on specific multimodal applications, this paper surveys the recent advances in multimodal machine learning itself and presents them in a common taxonomy. We go beyond the typical early and late fusion categorization and identify broader challenges that are faced by multimodal machine learning, namely: representation, translation, alignment, fusion, and co-learning. This new taxonomy will enable researchers to better understand the state of the field and identify directions for future research.
[EX A]: Multimodal Machine Learning: A Survey and Taxonomy

[EX Q]: Local Process Model (LPM) discovery is focused on the mining of a set of process models where each model describes the behavior represented in the event log only partially, i.e. subsets of possible events are taken into account to create socalled local process models. Often such smaller models provide valuable insights into the behavior of the process, especially when no adequate and comprehensible single overall process model exists that is able to describe the traces of the process from start to end. The practical application of LPM discovery is however hindered by computational issues in the case of logs with many activities (problems may already occur when there are more than 17 unique activities). In this paper, we explore three heuristics to discover subsets of activities that lead to useful log projections with the goal of speeding up LPM discovery considerably while still finding high-quality LPMs. We found that a Markov clustering approach to create projection sets results in the largest improvement of execution time, with discovered LPMs still being better than with the use of randomly generated activity sets of the same size. Another heuristic, based on log entropy, yields a more moderate speedup, but enables the discovery of higher quality LPMs. The third heuristic, based on the relative information gain, shows unstable performance: for some data sets the speedup and LPM quality are higher than with the log entropy based method, while for other data sets there is no speedup at all.
[EX A]:
Heuristic Approaches for Generating Local Process Models through Log Projections