相关论文: Multi-kernel Correntropy-based Orientation Estimat…
We propose MC-CIM, a compute-in-memory (CIM) framework for robust, yet low power, Bayesian edge intelligence. Deep neural networks (DNN) with deterministic weights cannot express their prediction uncertainties, thereby pose critical risks…
Ensemble methods are arguably the most trustworthy techniques for boosting the performance of machine learning models. Popular independent ensembles (IE) relying on naive averaging/voting scheme have been of typical choice for most…
Feature detection is an important procedure for image matching, where unsupervised feature detection methods are the detection approaches that have been mostly studied recently, including the ones that are based on repeatability requirement…
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
This paper develops an underwater navigation solution that utilizes a strapdown inertial navigation system (SINS) and fuses a set of auxiliary sensors such as an acoustic positioning system, Doppler velocity log, depth meter, attitude…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
We present a dead reckoning strategy for increased resilience to position estimation failures on multirotors, using only data from a low-cost IMU and novel, bio-inspired airflow sensors. The goal is challenging, since low-cost IMUs are…
Electrocardiogram (ECG) signals, which capture the heart's electrical activity, are used to diagnose and monitor cardiac problems. The accurate classification of ECG signals, particularly for distinguishing among various types of…
Multi-objective optimization (MOO) lies at the core of many machine learning (ML) applications that involve multiple, potentially conflicting objectives (e.g., multi-task learning, multi-objective reinforcement learning, among many others).…
We study large deviation upper bounds and mean-squared error (MSE) guarantees of a general framework of nonlinear stochastic gradient methods in the online setting, in the presence of heavy-tailed noise. Unlike existing works that rely on…
Model order estimation (MOE) is often a pre-requisite for Direction of Arrival (DoA) estimation. Due to limits imposed by array geometry, it is typically not possible to estimate spatial parameters for an arbitrary number of sources; an…
Dynamical low-rank approximation allows for solving large-scale matrix differential equations (MDEs) with significantly fewer degrees of freedom and has been applied to a growing number of applications. However, most existing techniques…
Machine unlearning (MU) aims to remove the influence of specific data from a trained model. However, approximate unlearning methods, often formulated as a single-objective optimization (SOO) problem, face a critical trade-off between…
Two maximum likelihood-based algorithms for unfolding or deconvolution are considered: the Richardson-Lucy method and the Data Unfolding method with Mean Integrated Square Error (MISE) optimization [10]. Unfolding is viewed as a procedure…
In this paper, we study two general classes of optimization algorithms for kernel methods with convex loss function and quadratic norm regularization, and analyze their convergence. The first approach, based on fixed-point iterations, is…
We explore value decomposition solutions for multi-agent deep reinforcement learning in the popular paradigm of centralized training with decentralized execution(CTDE). As the recognized best solution to CTDE, Weighted QMIX is cutting-edge…
In this paper, we propose a new descent method, termed as multiobjective memory gradient method, for finding Pareto critical points of a multiobjective optimization problem. The main thought in this method is to select a combination of the…
We propose a multiple chirp rate index modulation (MCR-IM) system based on Zadoff-Chu (ZC) sequences that overcomes the problems of low transmission rate and large-scale access in classical LoRa networks. We demonstrate the extremely low…
Current state-of-the-art multi-objective optimization solvers, by computing gradients of all $m$ objective functions per iteration, produce after $k$ iterations a measure of proximity to critical conditions that is upper-bounded by…
Accuracy and stability are common requirements for Quadrotor trajectory tracking systems. Designing an accurate and stable tracking controller remains challenging, particularly in unknown and dynamic environments with complex aerodynamic…