1,721,114 research outputs found
Computational Optimization of Image-Based Reinforcement Learning for Robotics
No full textThe robotics field has been deeply influenced by the advent of deep learning. In recent years, this trend has been characterized by the adoption of large, pretrained models for robotic use cases, which are not compatible with the computational hardware available in robotic systems. Moreover, such large, computationally intensive models impede the low-latency execution which is required for many closed-loop control systems. In this work, we propose different strategies for improving the computational efficiency of the deep-learning models adopted in reinforcement-learning (RL) scenarios. As a use-case project, we consider an image-based RL method on the synergy between push-and-grasp actions. As a first optimization step, we reduce the model architecture in complexity, by decreasing the number of layers and by altering the architecture structure. Second, we consider downscaling the input resolution to reduce the computational load. Finally, we perform weight quantization, where we compare post-training quantization and quantized-aware training. We benchmark the improvements introduced in each optimization by running a standard testing routine. We show that the optimization strategies introduced can improve the computational efficiency by around 300 times, while also slightly improving the functional performance of the system. In addition, we demonstrate closed-loop control behaviour on a real-world robot, while processing everything on a Jetson Xavier NX edge device
Traffic Noise Assessment Using Intelligent Acoustic Sensors (Traffic Ear) and Vehicle Telematics Data
Full text linkHere, we introduce Traffic Ear, an acoustic sensor pack that determines the engine noise of each passing vehicle without interrupting traffic flow. The device consists of an array of microphones combined with a computer vision camera. The class and speed of passing vehicles were estimated using sound wave analysis, image processing, and machine learning algorithms. We compared the traffic composition estimated with the Traffic Ear sensor with that recorded using an automatic number plate recognition (ANPR) camera and found a high level of agreement between the two approaches for determining the vehicle type and fuel, with uncertainties of 1–4%. We also developed a new bottom-up assessment approach that used the noise analysis provided by the Traffic Ear sensor along with the extensively detailed urban mobility maps that were produced using the geospatial and temporal mapping of urban mobility (GeoSTMUM) approach. It was applied to vehicles travelling on roads in the West Midlands region of the UK. The results showed that the reduction in traffic engine noise over the whole of the study road was over 8% during rush hours, while the weekday–weekend effect had a deterioration effect of almost half. Traffic noise factors (dB/m) on a per-vehicle basis were almost always higher on motorways compared the other roads studied
Nikolaos Doulamis, Anastasios Doulamis and Stefanos Kollias
No full textA novel technique# for on line adaptation of neural network classifiers to non#stationary image and video inputs, is proposed in this paper. The scheme includes# on the one hand, a maximum a posteriori procedure which optimally estimates the most representative data of the current environment and# on the other hand, a retrieval mechanism which selects the most appropriate network classifier from a system memory. Small perturbation of the retrieved network weights is then performed for further improving the network performance
Towards an Online Multiplayer Serious Game Providing a Joyful Experience in Learning Art History
No full textUsing prevalent teaching methods, such as classroom teaching, art historical facts can be tedious to communicate. Especially when it concentrates on teaching artists names, artworks and their corresponding era of art. Knowing about the cultural-historical background of art history can play an important role in raising a student´s interest in contemporary culture and cultural heritage. We propose the online multiplayer Serious Game ThIATRO that helps students learn art history. This playful approach is intended to not only increases the motivation to learn but also compel the player to think about, organize and use information in ways that encourage active construction of knowledge
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Dispelling the Myths Behind First-author Citation Counts
Full text linkWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
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