The explosion in the availability of GPS-enabled devices has resulted in an abundance of trajectory data. In reality, however, majority of these trajectories are collected at a low sampling rate and only provide partial observations on their actually traversed routes. Consequently, they are mired with uncertainty. In this paper, we develop a technique called Infer Tra to infer uncertain trajectories from network-constrained partial observations. Rather than predicting the most likely route, the inferred uncertain trajectory takes the form of an edge-weighted graph and summarizes all probable routes in a holistic manner. For trajectory inference, Infer Tra employs Gibbs sampling by learning a Network Mobility Model (NMM) from a database of historical trajectories. Extensive experiments on real trajectory databases show that the graph-based approach of Infer Tra is up to 50 more accurate, 20 times faster, and immensely more versatile than state-of-the-art techniques.
HRIS @cite_16 is the first and the only work to infer network-constrained trajectories from partial observations. In this section, we outline how InferTra is different.
@cite_16
2049626361
The increasing availability of GPS-embedded mobile devices has given rise to a new spectrum of location-based services, which have accumulated a huge collection of location trajectories. In practice, a large portion of these trajectories are of low-sampling-rate. For instance, the time interval between consecutive GPS points of some trajectories can be several minutes or even hours. With such a low sampling rate, most details of their movement are lost, which makes them difficult to process effectively. In this work, we investigate how to reduce the uncertainty in such kind of trajectories. Specifically, given a low-sampling-rate trajectory, we aim to infer its possible routes. The methodology adopted in our work is to take full advantage of the rich information extracted from the historical trajectories. We propose a systematic solution, History based Route Inference System (HRIS), which covers a series of novel algorithms that can derive the travel pattern from historical data and incorporate it into the route inference process. To validate the effectiveness of the system, we apply our solution to the map-matching problem which is an important application scenario of this work, and conduct extensive experiments on a real taxi trajectory dataset. The experiment results demonstrate that HRIS can achieve higher accuracy than the existing map-matching algorithms for low-sampling-rate trajectories. Part 1 Introduction: nonlinear programming local methods global methods Numerica outline. Part 2 A tour of Numerica: getting started generic constraints constants ranges input parameters aggregation operators functions sets unconstrained optimization constrained optimization local constraint solving local unconstrained optimization soft constraints real constraints and uncertain data display accuracy. Part 3 The meaning of Numerica: interval analysis constraint solving unconstrained optimization interpretation of the results. Part 4 Modelling in Numerica: what can go wrong in Numerica improving Numerica statements. Part 5 The syntax of Numerica: overall structure expressions the constant section the input section the set section the variable section the function section the body section the display section the pragma section scoping rules. Part 6 The semantics of Numerica: interval arithmetic semantics of constraint solving semantics of unconstrained minimization semantics of constrained minimization non-canonical boxes. Part 7 An implementation of Numerica: overview of the algorithm domain-specific and monotonic interval extensions constraint solving unconstrained optimization constrained optimization advanced techniques an implementation of box consistency. Part 8 Experimental results: constraint solving unconstrained optimization constrained optimization appendices. 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. The shading cue is supposed to be a major factor in monocular stereopsis. However, the hypothesis is hardly corroborated by available data. For instance, the conventional stimulus used in perception research, which involves a circular disk with monotonic luminance gradient on a uniform surround, is theoretically ‘explained’ by any quadric surface, including spherical caps or cups (the conventional response categories), cylindrical ruts or ridges, and saddle surfaces. Whereas cylindrical ruts or ridges are reported when the outline is changed from circular to square, saddle surfaces are never reported. We introduce a method that allows us to differentiate between such possible responses. We report observations on a number of variations of the conventional stimulus, including variations of shape and quality of the boundary, and contexts that allow the observer to infer illumination direction. We find strong and expected influences of outline shape, but, perhaps surprisingly, we fail to find any influence of context, and only partial influence of outline quality. Moreover, we report appreciable differences within the generic population. We trace some of the idiosyncrasies (as compared to shape from shading algorithms) of the human observer to generic properties of the environment, in particular the fact that many objects are limited in size and elliptically convex over most of their boundaries. We consider reinforcement learning in partially observable domains where the agent can query an expert for demonstrations. Our nonparametric Bayesian approach combines model knowledge, inferred from expert information and independent exploration, with policy knowledge inferred from expert trajectories. We introduce priors that bias the agent towards models with both simple representations and simple policies, resulting in improved policy and model learning. In this paper, we present SPRinT (Smart Phone Pad and Robot for Tele-operation and Tele-presence), a tele-presence robot for HRI controlled by a smart phone. It uses the projection display as a main communication channel between the local and remote users and we describe the interaction model for such an HRI scenario. We focus on the interaction model and interplay among the robot controlling (local) user, tele-presence robot, and the counterpart person in the remote environment the local user attempting to interact with using the projection display. We outline the technical and interface requirements for understanding the target remote space, and initiating and setting up such an information exchange for the local user (and partly for the remote). In recent years scholars have built maps of science by connecting the academic fields that cite each other, are cited together, or that cite a similar literature. But since scholars cannot always publish in the fields they cite, or that cite them, these science maps are only rough proxies for the potential of a scholar, organization, or country, to enter a new academic field. Here we use a large dataset of scholarly publications disambiguated at the individual level to create a map of science-or research space-where links connect pairs of fields based on the probability that an individual has published in both of them. We find that the research space is a significantly more accurate predictor of the fields that individuals and organizations will enter in the future than citation based science maps. At the country level, however, the research space and citations based science maps are equally accurate. These findings show that data on career trajectories-the set of fields that individuals have previously published in-provide more accurate predictors of future research output for more focalized units-such as individuals or organizations-than citation based science maps. In this paper, we bring techniques from operations research to bear on the problem of choosing optimal actions in partially observable stochastic domains. We begin by introducing the theory of Markov decision processes (mdps) and partially observable MDPs (pomdps). We then outline a novel algorithm for solving pomdps off line and show how, in some cases, a finite-memory controller can be extracted from the solution to a POMDP. We conclude with a discussion of how our approach relates to previous work, the complexity of finding exact solutions to pomdps, and of some possibilities for finding approximate solutions. In traffic research, management, and planning a number of path-based analyses are heavily used, e.g., for computing turn-times, evaluating green waves, or studying traffic flow. These analyses require retrieving the trajectories that follow the full path being analyzed. Existing path queries cannot sufficiently support such path-based analyses because they retrieve all trajectories that touch any edge in the path. In this paper, we define and formalize the strict path query. This is a novel query type tailored to support path-based analysis, where trajectories must follow all edges in the path. To efficiently support strict path queries, we present a novel NET work-constrained TRAjectory index (NETTRA). This index enables very efficient retrieval of trajectories that follow a specific path, i.e., strict path queries. NETTRA uses a new path encoding scheme that can determine if a trajectory follows a specific path by only retrieving data from the first and last edge in the path. To correctly answer strict path queries existing network-constrained trajectory indexes must retrieve data from all edges in the path. An extensive performance study of NETTRA using a very large real-world trajectory data set, consisting of 1.7 million trajectories (941 million GPS records) and a road network with 1.3 million edges, shows a speed-up of two orders of magnitude compared to state-of-the-art trajectory indexes. Rainbow Sort is an unconventional method for sorting, which is based on the physical concepts of refraction and dispersion. It is inspired by the observation that light that traverses a prism is sorted by wavelength. At first sight this "rainbow effect" that appears in nature has nothing to do with a computation in the classical sense, still it can be used to design a sorting method that has the potential of running in ? (n) with a space complexity of ? (n), where n denotes the number of elements that are sorted. In Section 1, some upper and lower bounds for sorting are presented in order to provide a basis for comparisons. In Section 2, the physical background is outlined, the setup and the algorithm are presented and a lower bound for Rainbow Sort of ? (n) is derived. In Section 3, we describe essential difficulties that arise when Rainbow Sort is implemented. Particularly, restrictions that apply due to the Heisenberg uncertainty principle have to be considered. Furthermore, we sketch a possible implementation that leads to a running time of O(n+m), where m is the maximum key value, i.e., we assume that there are integer keys between 0 and m. Section 4 concludes with a summary of the complexity and some remarks on open questions, particularly on the treatment of duplicates and the preservation of references from the keys to records that contain the actual data. In Appendix A, a simulator is introduced that can be used to visualise Rainbow Sort. The MAP (maximum a posteriori hypothesis) problem in Bayesian networks is to find the most likely states of a set of variabls given partial evidence on the complement of that set. Standard structure-based inference methods for finding exact solutions to MAP, such as variable elimination and join-tree algorithms, have complexities that are exponential in the constrained treewidth of the network. A more recent algorithm, proposed by Park and Darwiche, is exponential only in the treewidth and has been shown to handle networks whose constrained treewidth is quite high. In this paper we present a new algorithm for exact MAP that is not necessarily limited in scalability even by the treewidth. This is achieved by leveraging recent advances in compilation of Bayesian networks into arithmetic circuits, which can circumvent treewidth-imposed limits by exploiting the local structure present in the network. Specifically, we implement a branch-and-bound search where the bounds are computed using linear-time operations on the compiled arithmetic circuit. On networks with local structure, we observe orders-of-magnitude improvements over the algorithm of Park and Darwiche. In particular, we are able to efficiently solve many problems where the latter algorithm runs out of memory because of high treewidth. This survey focuses on intrusion detection systems (IDS) that leverage host-based data sources for detecting attacks on enterprise network. The host-based IDS (HIDS) literature is organized by the input data source, presenting targeted sub-surveys of HIDS research leveraging system logs, audit data, Windows Registry, file systems, and program analysis. While system calls are generally included in audit data, several publicly available system call datasets have spawned a flurry of IDS research on this topic, which merits a separate section. Similarly, a section surveying algorithmic developments that are applicable to HIDS but tested on network data sets is included, as this is a large and growing area of applicable literature. To accommodate current researchers, a supplementary section giving descriptions of publicly available datasets is included, outlining their characteristics and shortcomings when used for IDS evaluation. Related surveys are organized and described. All sections are accompanied by tables concisely organizing the literature and datasets discussed. Finally, challenges, trends, and broader observations are throughout the survey and in the conclusion along with future directions of IDS research. Many interesting domains in machine learning can be viewed as networks, with relationships (e.g., friendships) connecting items (e.g., individuals). The Active Exploration (AE) task is to identify all items in a network with a desired trait (i.e., positive labels) given only partial information about the network. The AE process iteratively queries for labels or network structure within a limited budget; thus, accurate predictions prior to making each query is critical to maximizing the number of positives gathered. However, the targeted AE query process produces partially observed networks that can create difficulties for predictive modeling. In particular, we demonstrate that these partial networks can exhibit extreme label correlation bias, which makes it difficult for conventional relational learning methods to accurately estimate relational parameters. To overcome this issue, we model the joint distribution of possible edges and labels to improve learning and inference. Our proposed method, Probabilistic Relational Expectation Maximization (PR-EM), is the first AE approach to accurately learn the complex dependencies between attributes, labels, and structure to improve predictions. PR-EM utilizes collective inference over the missing relationships in the partial network to jointly infer unknown item traits. Further, we develop a linear inference algorithm to facilitate efficient use of PR-EM in large networks. We test our approach on four real world networks, showing that AE with PR-EM gathers significantly more positive items compared to state-of-the-art methods. This article begins by outlining some of the history--beginning with brief remarks of Quine's-of work on conditional assertions and conditional events. The upshot of the historical narrative is that diverse works from various starting points have circled around a nexus of ideas without convincingly tying them together. Section 3 shows how ideas contained in a neglected article of de Finetti's lead to a unified treatment of the topics based on the identification of conditional events as the objects of conditional bets. The penultimate section explores some of the consequences of the resulting logic of conditional events while the last defends it. This article presents the results of video-based Human Robot Interaction (HRI) trials which investigated people's perceptions of different robot appearances and associated attention-seeking features and behaviors displayed by robots with different appearance and behaviors. The HRI trials studied the participants' preferences for various features of robot appearance and behavior, as well as their personality attributions towards the robots compared to their own personalities. Overall, participants tended to prefer robots with more human-like appearance and attributes. However, systematic individual differences in the dynamic appearance ratings are not consistent with a universal effect. Introverts and participants with lower emotional stability tended to prefer the mechanical looking appearance to a greater degree than other participants. It is also shown that it is possible to rate individual elements of a particular robot's behavior and then assess the contribution, or otherwise, of that element to the overall perception of the robot by people. Relating participants' dynamic appearance ratings of individual robots to independent static appearance ratings provided evidence that could be taken to support a portion of the left hand side of Mori's theoretically proposed uncanny valley' diagram. Suggestions for future work are outlined. Learning about the structure of hidden or covert networks is a major challenge in epidemiology, sociology, and intelligence analysis. Vertices in hidden networks usually cannot be enumerated or sampled in a systematic way; they can only be revealed by tracing links emanating from already-observed vertices. Observers sometimes cannot follow links directly, and instead must rely on passive observation of a dynamic process to reveal vertices and edges. This paper outlines a framework for estimating network structures from partial observation of information diffusion through the network. Diffusion is modeled by a continuous-time Markov epidemic model. Edges are revealed by transmission events and new vertices are uncovered when information is transmitted to them. The approach is a generalization of tools developed to reconstruct drug-user networks from respondent-driven sampling studies in epidemiology. The likelihood of the diffusion process can be interpreted as an exponential random graph model. A Bayesian method for probabilistic reconstruction of the transmission-induced subgraph is described. Fetching items is an important problem for a social robot. It requires a robot to interpret a person's language and gesture and use these noisy observations to infer what item to deliver. If the robot could ask questions, it would help the robot be faster and more accurate in its task. Existing approaches either do not ask questions, or rely on fixed question-asking policies. To address this problem, we propose a model that makes assumptions about cooperation between agents to perform richer signal extraction from observations. This work defines a mathematical framework for an item-fetching domain that allows a robot to increase the speed and accuracy of its ability to interpret a person's requests by reasoning about its own uncertainty as well as processing implicit information (implicatures). We formalize the item-delivery domain as a Partially Observable Markov Decision Process (POMDP), and approximately solve this POMDP in real time. Our model improves speed and accuracy of fetching tasks by asking relevant clarifying questions only when necessary. To measure our model's improvements, we conducted a real world user study with 16 participants. Our method achieved greater accuracy and a faster interaction time compared to state-of-the-art baselines. Our model is 2.17 seconds faster (25 faster) than a state-of-the-art baseline, while being 2.1 more accurate. This paper presents improvements in contact-before-motion planning for humanoid robots that enables to find a path in very constrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the planning process. We experience the algorithm on the humanoid HRP-2 in a complex scenario. Training of large-scale deep neural networks is often constrained by the available computational resources. We study the effect of limited precision data representation and computation on neural network training. Within the context of lowprecision fixed-point computations, we observe the rounding scheme to play a crucial role in determining the network's behavior during training. Our results show that deep networks can be trained using only 16-bit wide fixed-point number representation when using stochastic rounding, and incur little to no degradation in the classification accuracy. We also demonstrate an energy-efficient hardware accelerator that implements low-precision fixed-point arithmetic with stochastic rounding. Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches make the assumption of observing static scenes, dynamic objects are relegated to the noise modelling section of such systems. This is an approach of convenience since the RANSAC based framework used to compute most multiview geometric quantities for static scenes naturally confine dynamic objects to the class of outlier measurements. However, reconstructing dynamic objects along with the static environment helps us get a complete picture of an urban environment. Such understanding can then be used for important robotic tasks like path planning for autonomous navigation, obstacle tracking and avoidance, and other areas. In this paper, we propose a system for robust SLAM that works in both static and dynamic environments. To overcome the challenge of dynamic objects in the scene, we propose a new model to incorporate semantic constraints into the reconstruction algorithm. While some of these constraints are based on multi-layered dense CRFs trained over appearance as well as motion cues, other proposed constraints can be expressed as additional terms in the bundle adjustment optimization process that does iterative refinement of 3D structure and camera object motion trajectories. We show results on the challenging KITTI urban dataset for accuracy of motion segmentation and reconstruction of the trajectory and shape of moving objects relative to ground truth. We are able to show average relative error reduction by 41 for moving object trajectory reconstruction relative to state-of-the-art methods like TriTrack[16], as well as on standard bundle adjustment algorithms with motion segmentation.