在实践中，缺少数据是一个通常发生的问题。已经开发了许多插补方法来填写缺失的条目。但是，并非所有这些都可以扩展到高维数据，尤其是多个插补技术。同时，如今的数据趋于高维。因此，在这项工作中，我们提出了主要成分分析插补（PCAI），这是一个基于主成分分析（PCA）的简单但多才多艺的框架，以加快插补过程并减轻许多可用的插补技术的记忆问题，而无需牺牲插补质量质量在MSE任期。此外，即使某些或全部缺少的功能是分类的，或者缺少功能的数量很大，框架也可以使用。接下来，我们介绍PCA插补 - 分类（PIC），这是PCAI在分类问题中的应用，并进行了一些调整。我们通过对各种情况进行实验来验证我们的方法，这表明PCAI和PIC可以使用各种插入算法（包括最先进的算法），并显着提高插补速度，同时在获得竞争性的均方误差/分类精度相比，指导插补（即直接将其插入丢失的数据）。

在这项工作中，研究了使用板载探测仪和机器人间距离测量值的4个自由度（3D位置和标题）机器人对机器人相对框架转换估计的问题。首先，我们对问题进行了理论分析，即CRAMER-RAO下限（CRLB），Fisher Information Matrix（FIM）及其决定因素的推导和解释。其次，我们提出了基于优化的方法来解决该问题，包括二次约束二次编程（QCQP）和相应的半决赛编程（SDP）放松。此外，我们解决了以前的工作中忽略的实际问题，例如对超宽带（UWB）和轨道仪传感器之间的空间偏移的核算，拒绝UWB异常值并在开始操作之前检查单数配置。最后，对空中机器人进行的广泛的模拟和现实生活实验表明，所提出的QCQP和SDP方法的表现优于最先进的方法，尤其是在几何差或大的测量噪声条件下。通常，QCQP方法以计算时间为代价提供了最佳结果，而SDP方法运行得更快，并且在大多数情况下非常准确。

尽管数十年来，同时定位和映射（SLAM）一直是一个积极的研究主题，但由于特征不足或其固有的估计漂移，在许多平民环境中，当前的最新方法仍然遭受不稳定或不准确性的困扰。为了解决这些问题，我们提出了一个梳理SLAM和先前基于图的本地化的导航系统。具体而言，我们考虑了线条和平面特征的其他集成，这些特征在平民环境中无处不在，在结构上更突出，以确保功能充足和本地化的鲁棒性。更重要的是，我们将一般的先验地图信息纳入SLAM以限制其漂移并提高准确性。为了避免在先前的信息和局部观察之间进行严格的关联，我们将先验知识的参数化为低维结构先验，定义为不同几何原始原始人之间的相对距离/角度。本地化被公式化为基于图的优化问题，其中包含基于滑动窗口的变量和因素，包括IMU，异质特征和结构先验。我们还得出了不同因素的雅各布人的分析表达式，以避免自动分化开销。为了进一步减轻结合结构先验因素的计算负担，根据所谓的信息增益采用了选择机制，以仅将最有效的结构先验纳入图表优化中。最后，对综合数据，公共数据集以及更重要的是，对所提出的框架进行了广泛的测试。结果表明，所提出的方案可以有效地提高平民应用中自动驾驶机器人的本地化的准确性和鲁棒性。

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot and a 2D slide around it. To fuse the data from these sensors, we first use an external camera as a reference to combine data from two depth cameras. A projection technique is then introduced to convert the 3D point cloud data of the cameras to its 2D correspondence. An obstacle avoidance algorithm is then developed based on the dynamic window approach. A number of experiments have been conducted to evaluate our proposed approach. The results show that the robot can effectively avoid static and dynamic obstacles of different shapes and sizes in different environments.

We introduce an approach for the answer-aware question generation problem. Instead of only relying on the capability of strong pre-trained language models, we observe that the information of answers and questions can be found in some relevant sentences in the context. Based on that, we design a model which includes two modules: a selector and a generator. The selector forces the model to more focus on relevant sentences regarding an answer to provide implicit local information. The generator generates questions by implicitly combining local information from the selector and global information from the whole context encoded by the encoder. The model is trained jointly to take advantage of latent interactions between the two modules. Experimental results on two benchmark datasets show that our model is better than strong pre-trained models for the question generation task. The code is also available (shorturl.at/lV567).

Semantic communication (SemCom) and edge computing are two disruptive solutions to address emerging requirements of huge data communication, bandwidth efficiency and low latency data processing in Metaverse. However, edge computing resources are often provided by computing service providers and thus it is essential to design appealingly incentive mechanisms for the provision of limited resources. Deep learning (DL)- based auction has recently proposed as an incentive mechanism that maximizes the revenue while holding important economic properties, i.e., individual rationality and incentive compatibility. Therefore, in this work, we introduce the design of the DLbased auction for the computing resource allocation in SemComenabled Metaverse. First, we briefly introduce the fundamentals and challenges of Metaverse. Second, we present the preliminaries of SemCom and edge computing. Third, we review various incentive mechanisms for edge computing resource trading. Fourth, we present the design of the DL-based auction for edge resource allocation in SemCom-enabled Metaverse. Simulation results demonstrate that the DL-based auction improves the revenue while nearly satisfying the individual rationality and incentive compatibility constraints.

Machine Learning as a service (MLaaS) permits resource-limited clients to access powerful data analytics services ubiquitously. Despite its merits, MLaaS poses significant concerns regarding the integrity of delegated computation and the privacy of the server's model parameters. To address this issue, Zhang et al. (CCS'20) initiated the study of zero-knowledge Machine Learning (zkML). Few zkML schemes have been proposed afterward; however, they focus on sole ML classification algorithms that may not offer satisfactory accuracy or require large-scale training data and model parameters, which may not be desirable for some applications. We propose ezDPS, a new efficient and zero-knowledge ML inference scheme. Unlike prior works, ezDPS is a zkML pipeline in which the data is processed in multiple stages for high accuracy. Each stage of ezDPS is harnessed with an established ML algorithm that is shown to be effective in various applications, including Discrete Wavelet Transformation, Principal Components Analysis, and Support Vector Machine. We design new gadgets to prove ML operations effectively. We fully implemented ezDPS and assessed its performance on real datasets. Experimental results showed that ezDPS achieves one-to-three orders of magnitude more efficient than the generic circuit-based approach in all metrics while maintaining more desirable accuracy than single ML classification approaches.

Collecting large-scale medical datasets with fully annotated samples for training of deep networks is prohibitively expensive, especially for 3D volume data. Recent breakthroughs in self-supervised learning (SSL) offer the ability to overcome the lack of labeled training samples by learning feature representations from unlabeled data. However, most current SSL techniques in the medical field have been designed for either 2D images or 3D volumes. In practice, this restricts the capability to fully leverage unlabeled data from numerous sources, which may include both 2D and 3D data. Additionally, the use of these pre-trained networks is constrained to downstream tasks with compatible data dimensions. In this paper, we propose a novel framework for unsupervised joint learning on 2D and 3D data modalities. Given a set of 2D images or 2D slices extracted from 3D volumes, we construct an SSL task based on a 2D contrastive clustering problem for distinct classes. The 3D volumes are exploited by computing vectored embedding at each slice and then assembling a holistic feature through deformable self-attention mechanisms in Transformer, allowing incorporating long-range dependencies between slices inside 3D volumes. These holistic features are further utilized to define a novel 3D clustering agreement-based SSL task and masking embedding prediction inspired by pre-trained language models. Experiments on downstream tasks, such as 3D brain segmentation, lung nodule detection, 3D heart structures segmentation, and abnormal chest X-ray detection, demonstrate the effectiveness of our joint 2D and 3D SSL approach. We improve plain 2D Deep-ClusterV2 and SwAV by a significant margin and also surpass various modern 2D and 3D SSL approaches.

Air pollution is an emerging problem that needs to be solved especially in developed and developing countries. In Vietnam, air pollution is also a concerning issue in big cities such as Hanoi and Ho Chi Minh cities where air pollution comes mostly from vehicles such as cars and motorbikes. In order to tackle the problem, the paper focuses on developing a solution that can estimate the emitted PM2.5 pollutants by counting the number of vehicles in the traffic. We first investigated among the recent object detection models and developed our own traffic surveillance system. The observed traffic density showed a similar trend to the measured PM2.5 with a certain lagging in time, suggesting a relation between traffic density and PM2.5. We further express this relationship with a mathematical model which can estimate the PM2.5 value based on the observed traffic density. The estimated result showed a great correlation with the measured PM2.5 plots in the urban area context.

Pareto Front Learning (PFL) was recently introduced as an effective approach to obtain a mapping function from a given trade-off vector to a solution on the Pareto front, which solves the multi-objective optimization (MOO) problem. Due to the inherent trade-off between conflicting objectives, PFL offers a flexible approach in many scenarios in which the decision makers can not specify the preference of one Pareto solution over another, and must switch between them depending on the situation. However, existing PFL methods ignore the relationship between the solutions during the optimization process, which hinders the quality of the obtained front. To overcome this issue, we propose a novel PFL framework namely \ourmodel, which employs a hypernetwork to generate multiple solutions from a set of diverse trade-off preferences and enhance the quality of the Pareto front by maximizing the Hypervolume indicator defined by these solutions. The experimental results on several MOO machine learning tasks show that the proposed framework significantly outperforms the baselines in producing the trade-off Pareto front.