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  • Decentralized Multi-Robot Exploration with Sparse Communication through Deep Imitation Learning

    Creator:
    Senewiratne, Yomal K.
    Abstract:
    We present a method for decentralized, multi-robot exploration in adverse environments where communication is minimal. A key conceptual feature of our method is enabling implicit coordination between robots by training a Convolutional Neural Network (CNN) as a heuristic for planning using Monte Carlo Tree Search (MCTS). Our method consists of...
    Resource Type:
    Masters Thesis
    Full Text:
    from trial j to create a belief map bit, the next action to take vit+1, paths traversed p i t and the

  • Behavior graphs for data-driven animation of 3d characters

    Creator:
    Srinivasan, Madhusudhanan
    Abstract:
    In this dissertation, we present a user-in-the-loop method for the design of an interactive motion data structure that benefits from the advantages of both motion graphs and blend-based techniques. Our novel approach automatically analyzes a traditional motion graph built from labeled motion clips. The result is a more condensed, coarser...
    Resource Type:
    Dissertation
    Full Text:
    : Behavior Graphs for Data-driven Animation of 3D Characters Abstract approved: Ronald A. Metoyer In this

  • Methods for Detection and Recovery of Out-of-Distribution Examples

    Creator:
    Ratzlaff, Neale J.
    Abstract:
    Deep neural networks currently comprise the backbone of many applications where safety is a critical concern, for example: autonomous driving and medical diagnostics. Unfortunately these systems currently fail to detect out-of-distribution (OOD) inputs and can be prone to making dangerous errors when exposed to them. In addition, these same systems...
    Resource Type:
    Masters Thesis
    Full Text:
    Ij is a j × j identity matrix, and generate parameters using a generator from s. Figure 2.1 shows

  • Usable and Scalable Querying of Scientific Datasets

    Creator:
    McCamish, Benjamin J.
    Abstract:
    Scientists and engineers have to analyze and query multiple large databases. Analysis over databases created by phasor measurement units can provide insight into the health of the grid, thereby improving control over operations. Realizing this data-driven control, however, requires validating, processing and storing massive amounts of PMU data efficiently, which...
    Resource Type:
    Dissertation
    Full Text:
    most queries is spread across multiple data sources, where each represents information in a distinct

  • Adaptive Movement Intent Decoding for Intuitive Control of Neuroprostheses

    Creator:
    George, Damon A.
    Abstract:
    Movement intent decoders, which interpret volitional movement intent from human bioelectric signals, can be incorporated into modern neuroprostheses to offer people living with limb loss or paralysis the potential to regain their lost motor control. Machine learning methods have become the research standard for continuous decoders with high degrees of...
    Resource Type:
    Masters Thesis
    Full Text:
    ↵ is the o✏ine training loss and J(·) is a convex function of x��✓[n](z). Notice that the decoder

  • Computing entropy for Z²-actions

    Creator:
    Pierce, Larry A.
    Abstract:
    For a certain class of Z²-actions, we provide a proof of a conjecture that the ratio of the Perron eigenvalues of the transfer matrices of the free boundary restrictions converge to the entropy of that action. Also, a novel method for computing the entropy of Z²-actions is conjectured.
    Resource Type:
    Dissertation
    Full Text:
    every α ∈ G, αji /∈ F ∀i, j ∈ Z. Note that if G is a shift system, then α ∈ G ⇒ σ(α) ∈ G. Note that

  • Listing as a Potential Connection between Sets of Outcomes and Counting Processes

    Creator:
    Erickson, Sarah A.
    Abstract:
    Counting problems are rich in opportunities for students to make meaningful mathematical connections and develop non-algorithmic thinking; their accessible nature and applications to computer science make counting problems a valuable part of mathematics curricula. However, students struggle in various ways with counting, and while previous studies have indicated that listing...
    Resource Type:
    Masters Thesis
    Full Text:
    ______________________________________________________ AN ABSTRACT OF THE THESIS OF Sarah A. Erickson

  • Analysis of bio-based composites for image segmentation with the aid of games

    Creator:
    Inouye, Jennifer A.
    Abstract:
    A fundamental problem in computer vision is to partition an image into meaningful segments. While image segmentation is required by many applications, the thesis focuses on segmentation of computed tomography (CT) images for analysis and quality control of composite materials. The key research contribution of this thesis is a novel...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Jennifer A. Inouye for the degree of Master of Science of Computer

  • A Deep Action Segmentation and Its Explanation with a Dictionary of Meaningful Attention Maps

    Creator:
    Trigkakis, Dimitrios
    Abstract:
    This thesis addresses the problem of temporal action segmentation in videos, where the goal is to label every video frame with the appropriate action class present. We focus on the domain of NFL football videos, where action classes represent common football play types. For action segmentation, we use a temporal...
    Resource Type:
    Masters Thesis
    Full Text:
    degree of Master of Science in Computer Science presented on December 5, 2017. Title: A Deep Action

  • Mixing time for a 3-cycle interacting particle system : a coupling approach

    Creator:
    Eves, Matthew Jasper
    Abstract:
    This thesis examines the mixing times for one-dimensional interacting particle systems. We use the coupling method to study the mixing rates for particle systems on the circle which move according to specific permutations e.g., transpositions and 3-cycles.
    Resource Type:
    Masters Thesis
    Full Text:
    degree of Master of Science in Mathematics presented on July 26, 2007. Title: Mixing Time For A 3-Cycle