In this paper we solve the problem of finding a trajectory that shows that a given hybrid dynamical system with deterministic evolution leaves a given set of states considered to be safe. The algorithm combines local with global search for achieving both efficiency and global convergence. In local search, it exploits derivatives for efficient computation. Unlike other methods for falsification of hybrid systems with deterministic evolution, we do not restrict our search to trajectories of a certain bounded length but search for error trajectories of arbitrary length.
Our algorithm can be viewed as an adaptation of the Best Start two-phase method for global optimization @cite_0 to our context.
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We present a search-based planning approach for controlling a quadrupedal robot over rough terrain. Given a start and goal position, we consider the problem of generating a complete joint trajectory that will result in the legged robot successfully moving from the start to the goal. We decompose the problem into two main phases: an initial global planning phase, which results in a footstep trajectory; and an execution phase, which dynamically generates a joint trajectory to best execute the footstep trajectory. We show how R* search can be employed to generate high-quality global plans in the high-dimensional space of footstep trajectories. Results show that the global plans coupled with the joint controller result in a system robust enough to deal with a variety of terrains. This paper presents dynamic feedback, a technique that enables computations to adapt dynamically to different execution environments. A compiler that uses dynamic feedback produces several different versions of the same source code; each version uses a different optimization policy. The generated code alternately performs sampling phases and production phases. Each sampling phase measures the overhead of each version in the current environment. Each production phase uses the version with the least overhead in the previous sampling phase. The computation periodically resamples to adjust dynamically to changes in the environment.We have implemented dynamic feedback in the context of a parallelizing compiler for object-based programs. The generated code uses dynamic feedback to automatically choose the best synchronization optimization policy. Our experimental results show that the synchronization optimization policy has a significant impact on the overall performance of the computation, that the best policy varies from program to program, that the compiler is unable to statically choose the best policy, and that dynamic feedback enables the generated code to exhibit performance that is comparable to that of code that has been manually tuned to use the best policy. We have also performed a theoretical analysis which provides, under certain assumptions, a guaranteed optimality bound for dynamic feedback relative to a hypothetical (and unrealizable) optimal algorithm that uses the best policy at every point during the execution. Developing efficient and guaranteed nonconvex algorithms has been an important challenge in modern machine learning. Algorithms with good empirical performance such as stochastic gradient descent often lack theoretical guarantees. In this paper, we analyze the class of homotopy or continuation methods for global optimization of nonconvex functions. These methods start from an objective function that is efficient to optimize (e.g. convex), and progressively modify it to obtain the required objective, and the solutions are passed along the homotopy path. For the challenging problem of tensor PCA, we prove global convergence of the homotopy method in the "high noise" regime. The signal-to-noise requirement for our algorithm is tight in the sense that it matches the recovery guarantee for the best degree-4 sum-of-squares algorithm. In addition, we prove a phase transition along the homotopy path for tensor PCA. This allows to simplify the homotopy method to a local search algorithm, viz., tensor power iterations, with a specific initialization and a noise injection procedure, while retaining the theoretical guarantees. The fundamental matrix is a basic tool in the analysis of scenes taken with two uncalibrated cameras, and the eight-point algorithm is a frequently cited method for computing the fundamental matrix from a set of eight or more point matches. It has the advantage of simplicity of implementation. The prevailing view is, however, that it is extremely susceptible to noise and hence virtually useless for most purposes. This paper challenges that view, by showing that by preceding the algorithm with a very simple normalization (translation and scaling) of the coordinates of the matched points, results are obtained comparable with the best iterative algorithms. This improved performance is justified by theory and verified by extensive experiments on real images. In a document network such as a citation network of scientific documents, web-logs, etc., the content produced by authors exhibits their interest in certain topics. In addition some authors influence other authors' interests. In this work, we propose to model the influence of cited authors along with the interests of citing authors. Moreover, we hypothesize that apart from the citations present in documents, the context surrounding the citation mention provides extra topical information about the cited authors. However, associating terms in the context to the cited authors remains an open problem. We propose novel document generation schemes that incorporate the context while simultaneously modeling the interests of citing authors and influence of the cited authors. Our experiments show significant improvements over baseline models for various evaluation criteria such as link prediction between document and cited author, and quantitatively explaining unseen text. Citation relationship between scientific publications has been successfully used for scholarly bibliometrics, information retrieval and data mining tasks, and citation-based recommendation algorithms are well documented. While previous studies investigated citation relations from various viewpoints, most of them share the same assumption that, if paper1 cites paper2 (or author1 cites author2), they are connected, regardless of citation importance, sentiment, reason, topic, or motivation. However, this assumption is oversimplified. In this study, we employ an innovative "context-rich heterogeneous network" approach, which paves a new way for citation recommendation task. In the network, we characterize 1) the importance of citation relationships between citing and cited papers, and 2) the topical citation motivation. Unlike earlier studies, the citation information, in this paper, is characterized by citation textual contexts extracted from the full-text citing paper. We also propose algorithm to cope with the situation when large portion of full-text missing information exists in the bibliographic repository. Evaluation results show that, context-rich heterogeneous network can significantly enhance the citation recommendation performance. Virtually all methods for global optimization consist of two phases: a global phase, aimed at thorough exploration of the feasible region or subsets of the feasible region where it is known the global optimum will be found, and a local phase aimed at locally improving the approximation to some local optima. Often these two phases are blended into the same algorithm, which automatically switches between exploration and refinement. In this paper, some methods will be reviewed in which the two phases are well separated. A formal definition of two-phase methods will be given and some of the characteristics of these methods will be outlined. Abstract Aim: The aim was to evaluate height measurements made with the single view metrology method and to investigate the influence of standing position and different phases of gait and running on vertical height. Method: Ten healthy men were recorded simultaneously by a 2D web camera and a 3D motion analysis system. They performed six trials, three standing and three during gait and running. The vertical height was measured with the single view metrology method and in Qualisys Track Manager. The results were compared for evaluation. The vertical height in the different postures was compared to the actual height. Results: The measurements made with the single view metrology method were significantly higher than the measurements made with Qualisys Track Manager (p 0.05). Conclusion: The single view metrology method measured vertical heights with a mean error of +2.30 cm. Posture influence vertical body height. Midstance in walking is the position where vertical height corresponds best with actual height, in running it is the non-support phase. We present an optimization-based approach to grasping and path planning for mobile manipulators. We focus on pick-and-place operations, where a given object must be moved from its start configuration to its goal configuration by the robot. Given only the start and goal configurations of the object and a model of the robot and scene, our algorithm finds a grasp and a trajectory for the robot that will bring the object to its goal configuration. The algorithm consists of two phases: optimization and planning. In the optimization phase, the optimal robot configurations and grasp are found for the object in its start and goal configurations using a co-evolutionary algorithm. In the planning phase, a path is found connecting the two robot configurations found by the optimization phase using Rapidly-Exploring Random Trees (RRTs). We benchmark our algorithm and demonstrate it on a 10 DOF mobile manipulator performing complex pick-and-place tasks in simulation. A citing sentence is one that appears in a scientific article and cites previous work. Citing sentences have been studied and used in many applications. For example, they have been used in scientific paper summarization, automatic survey generation, paraphrase identification, and citation function classification. Citing sentences that cite multiple papers are common in scientific writing. This observation should be taken into consideration when using citing sentences in applications. For instance, when a citing sentence is used in a summary of a scientific paper, only the fragments of the sentence that are relevant to the summarized paper should be included in the summary. In this paper, we present and compare three different approaches for identifying the fragments of a citing sentence that are related to a given target reference. Our methods are: word classification, sequence labeling, and segment classification. Our experiments show that segment classification achieves the best results. A new efficient optimization method, called 'Teaching-Learning-Based Optimization (TLBO)', is proposed in this paper for the optimization of mechanical design problems. This method works on the effect of influence of a teacher on learners. Like other nature-inspired algorithms, TLBO is also a population-based method and uses a population of solutions to proceed to the global solution. The population is considered as a group of learners or a class of learners. The process of TLBO is divided into two parts: the first part consists of the 'Teacher Phase' and the second part consists of the 'Learner Phase'. 'Teacher Phase' means learning from the teacher and 'Learner Phase' means learning by the interaction between learners. The basic philosophy of the TLBO method is explained in detail. To check the effectiveness of the method it is tested on five different constrained benchmark test functions with different characteristics, four different benchmark mechanical design problems and six mechanical design optimization problems which have real world applications. The effectiveness of the TLBO method is compared with the other population-based optimization algorithms based on the best solution, average solution, convergence rate and computational effort. Results show that TLBO is more effective and efficient than the other optimization methods for the mechanical design optimization problems considered. This novel optimization method can be easily extended to other engineering design optimization problems. We study the problem of learning a most biased coin among a set of coins by tossing the coins adaptively. The goal is to minimize the number of tosses until we identify a coin i* whose posterior probability of being most biased is at least 1-delta for a given delta. Under a particular probabilistic model, we give an optimal algorithm, i.e., an algorithm that minimizes the expected number of future tosses. The problem is closely related to finding the best arm in the multi-armed bandit problem using adaptive strategies. Our algorithm employs an optimal adaptive strategy -- a strategy that performs the best possible action at each step after observing the outcomes of all previous coin tosses. Consequently, our algorithm is also optimal for any starting history of outcomes. To our knowledge, this is the first algorithm that employs an optimal adaptive strategy under a Bayesian setting for this problem. Our proof of optimality employs tools from the field of Markov games. The data placement strategy greatly affects the efficiency of MapReduce. The current strategy only takes the map phase into account to optimize the map time. But the ignored shuffle phase may increase the total running time significantly in many jobs. We propose a new data placement strategy, named OPTAS, which optimizes both the map and shuffle phases to reduce their total time. However, the huge search space makes it difficult to find out an optimal data placement instance (DPI) rapidly. To address this problem, an algorithm is proposed which can prune most of the search space and find out an optimal result quickly. The search space firstly is segmented in ascending order according to the potential map time. Within each segment, we propose an efficient method to construct a local optimal DPI with the minimal total time of both the map and shuffle phases. To find the global optimal DPI, we scan the local optimal DPIs in order. We have proven that the global optimal DPI can be found as the first local optimal DPI whose total time stops decreasing, thus further pruning the search space. In practice, we find that at most fourteen local optimal DPIs are scanned in tens of thousands of segments with the pruning strategy. Extensive experiments with real trace data verify not only the theoretic analysis of our pruning strategy and construction method but also the optimality of OPTAS. The best improvements obtained in our experiments can be over 40 compared with the existing strategy used by MapReduce. In this paper we investigate the usage of persistent point feature histograms for the problem of aligning point cloud data views into a consistent global model. Given a collection of noisy point clouds, our algorithm estimates a set of robust 16D features which describe the geometry of each point locally. By analyzing the persistence of the features at different scales, we extract an optimal set which best characterizes a given point cloud. The resulted persistent features are used in an initial alignment algorithm to estimate a rigid transformation that approximately registers the input datasets. The algorithm provides good starting points for iterative registration algorithms such as ICP (Iterative Closest Point), by transforming the datasets to its convergence basin. We show that our approach is invariant to pose and sampling density, and can cope well with noisy data coming from both indoor and outdoor laser scans. In this paper we introduce the LeGO (Learning for Global Optimization) approach for global optimization in which machine learning is used to predict the outcome of a computationally expensive global optimization run, based upon a suitable training performed by standard runs of the same global optimization method. We propose to use a Support Vector Machine (although different machine learning tools might be employed) to learn the relationship between the starting point of an algorithm and the final outcome (which is usually related to the function value at the point returned by the procedure). Numerical experiments performed both on classical test functions and on difficult space trajectory planning problems show that the proposed approach can be very effective in identifying good starting points for global optimization. Abstract In this article two new methods for building and evaluating eHealth interventions are described. The first is the Multiphase Optimization Strategy (MOST). It consists of a screening phase, in which intervention components are efficiently identified for inclusion in an intervention or for rejection, based on their performance; a refining phase, in which the selected components are fine tuned and issues such as optimal levels of each component are investigated; and a confirming phase, in which the optimized intervention, consisting of the selected components delivered at optimal levels, is evaluated in a standard randomized controlled trial. The second is the Sequential Multiple Assignment Randomized Trial (SMART), which is an innovative research design especially suited for building time-varying adaptive interventions. A SMART trial can be used to identify the best tailoring variables and decision rules for an adaptive intervention empirically. Both the MOST and SMART approaches use randomized experimentation to enable valid inferences. When properly implemented, these approaches will lead to the development of more potent eHealth interventions. We study the approximation of Ef(X-T) by a Monte Carlo algorithm, where X is the solution of a stochastic differential equation and f is a given function. We introduce a new variance reduction method, which can be viewed as a statistical analogue of Romberg extrapolation method. Namely, we use two Euler schemes with steps delta and delta(beta), 0 < beta < 1. This leads to an algorithm which, for a given level of the statistical error, has a complexity significantly lower than the complexity of the standard Monte Carlo method. We analyze the asymptotic error of this algorithm in the context of general (possibly degenerate) diffusions. In order to find the optimal beta (which turns out to be beta = 1 2), we establish a central limit: type theorem, based on a result of Jacod and Protter for the asymptotic distribution of the error in the Euler scheme. We test our method on various examples. In particular, we adapt it to Asian options. In this setting, we have a CLT and, as a by-product, an explicit expansion of the discretization error. Preface 1. Introduction 2. Some context for Context Analysis: a view of the origins of structural studies of face-to-face interaction 3. Some functions of gaze direction in two-person conversation 4. Movement co-ordination in social interaction 5. Some functions of the face in a kissing round 6. A description of some human greetings 7. Spatial organisation in social encounters: the F-formation system 8. Behavioural foundations for the process of frame-attunement in face-to-face interaction List of films cited References Index. Restoration of writing order from a single-stroked handwriting image can be seen as the problem of finding the smoothest path in its graph representation. In this paper, a 3-phase approach to restore a writing order is proposed within the framework of the edge continuity relation (ECR). In the initial, local phase, in order to obtain possible ECRs at an even-degree node, a neural network is used for the node of degree 4 and a theoretical approach is presented for the node of degree higher than 4 by introducing certain reasonable assumptions. In the second phase, we identify double-traced lines by employing maximum weighted matching. This makes it possible to transform the problem of obtaining possible ECRs at odd-degree node to that at even-degree node. In the final, global phase, we find all the candidates of single-stroked paths by depth first search and select the best one by evaluating SLALOM smoothness. Experiments on static images converted from online data in the Unipen database show that our method achieves a restoration rate of 96.0 percent Citations are important in academic dissemination. To help researchers check the completeness of citations while authoring a paper, we introduce a citation recommendation system called RefSeer. Researchers can use it to find related works to cited while authoring papers. It can also be used by reviewers to check the completeness of a paper's references. RefSeer presents both topic based global recommendation and also citation-context based local recommendation. By evaluating the quality of recommendation, we show that such recommendation system can recommend citations with good precision and recall. We also show that our recommendation system is very efficient and scalable.