A confusion network (sometimes called a word confusion network or informally known as a sausage) is a natural language processing method that combines outputs from multiple automatic speech recognition or machine translation systems. Confusion networks are simple linear directed acyclic graphs with the property that each a path from the start node to the end node goes through all the other nodes. The set of words represented by edges between two nodes is called a confusion set. In machine translation, the defining characteristic of confusion networks is that they allow multiple ambiguous inputs, deferring committal translation decisions until later stages of processing. This approach is used in the open source machine translation software Moses and the proprietary translation API in IBM Bluemix Watson.
Visual servoing
Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all
The Best Free AI Avatar Generator for Beginners
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Thomas G. Dietterich
Thomas G. Dietterich is emeritus professor of computer science at Oregon State University. He is one of the pioneers of the field of machine learning. He served as executive editor of Machine Learning (journal) (1992–98) and helped co-found the Journal of Machine Learning Research. In response to the media's attention on the dangers of artificial intelligence, Dietterich has been quoted for an academic perspective to a broad range of media outlets including National Public Radio, Business Insider, Microsoft Research, CNET, and The Wall Street Journal. Among his research contributions were the invention of error-correcting output coding to multi-class classification, the formalization of the multiple-instance problem, the MAXQ framework for hierarchical reinforcement learning, and the development of methods for integrating non-parametric regression trees into probabilistic graphical models. == Biography and education == Thomas Dietterich was born in South Weymouth, Massachusetts, in 1954. His family later moved to New Jersey and then again to Illinois, where Tom graduated from Naperville Central High School. Dietterich then entered Oberlin College and began his undergraduate studies. In 1977, Dietterich graduated from Oberlin with a degree in mathematics, focusing on probability and statistics. Dietterich spent the following two years at the University of Illinois, Urbana-Champaign. After those two years, he began his doctoral studies in the Department of Computer Science at Stanford University. Dietterich received his Ph.D. in 1984 and moved to Corvallis, Oregon, where he was hired as an assistant professor in computer science. in 2013, he was named "Distinguished Professor". In 2016, Dietterich retired from his position at Oregon State University. Throughout his career, Dietterich has worked to promote scientific publication and conference presentations. For many years, he was the editor of the MIT Press series on Adaptive Computation and Machine Learning. He also held the position of co-editor of the Morgan Claypool Synthesis Series on Artificial Intelligence and Machine Learning. He has organized several conferences and workshops including serving as Technical Program Co-Chair of the National Conference on Artificial Intelligence (AAAI-90), Technical Program Chair of the Neural Information Processing Systems (NIPS-2000) and General Chair of NIPS-2001. He served as founding President of the International Machine Learning Society and he has been a member of the IMLS Board since its founding. He is currently also a member of the Steering Committee of the Asian Conference on Machine Learning. == Research interests == Professor Dietterich is interested in all aspects of machine learning. There are three major strands of his research. First, he is interested in the fundamental questions of artificial intelligence and how machine learning can provide the basis for building integrated intelligent systems. Second, he is interested in ways that people and computers can collaborate to solve challenging problems. And third, he is interested in applying machine learning to problems in the ecological sciences and ecosystem management as part of the emerging field of computational sustainability. Over his career, he has worked on a wide variety of problems ranging from drug design to user interfaces to computer security. His current focus is on ways that computer science methods can help advance ecological science and improve our management of the Earth's ecosystems. This passion has led to several projects including research in wildfire management, invasive vegetation and understanding the distribution and migration of birds. For example, Dietterich's research is helping scientists at the Cornell Lab of Ornithology answer questions like: How do birds decide to migrate north? How do they know when to land and stopover for a few days? How do they choose where to make a nest? Tens of thousands of volunteer birdwatchers (citizen scientists) all over the world contribute data to the study by submitting their bird sightings to the eBird website. The amount of data is overwhelming – in March 2012 they had over 3.1 million bird observations. Machine learning can uncover patterns in data to model the migration of species. But there are many other applications for the same techniques which will allow organizations to better manage our forests, oceans, and endangered species, as well as improve traffic flow, water systems, the electrical power grid, and more. I realized I wanted to have an impact on something that really mattered – and certainly the whole Earth's ecosystem, of which we are a part, is under threat in so many ways. And so if there's some way that I can use my technical skills to improve both the science base and the tools needed for policy and management decisions, then I would like to do that. I am passionate about that. == Dangers of AI: an academic perspective == Dietterich has argued that the most realistic risks about the dangers of artificial intelligence are basic mistakes, breakdowns and cyberattacks, and the fact that it simply may not always work, rather than machines that become super powerful or destroy the human race. Dietterich considers machines becoming self-aware and trying to exterminate humans to be more science fiction than scientific fact. But to the extent that computer systems are given increasingly dangerous tasks, and asked to learn from and interpret their experiences, he said they may simply make mistakes. Instead, much of the work done in the AI safety community does indeed focus around accidents and design flaws. == Positions held == 2014–2016: President, Association for the Advancement of Artificial Intelligence (AAAI). 2013–present: Distinguished Professor of computer science, Oregon State University. 2011–present: Chief Scientist, BigML, Corvallis, OR. 2005–present: Director of Intelligent Systems Research, School of Electrical Engineering and Computer Science, Oregon State University. 2006–2008: Chief Scientist, Smart Desktop, Inc., Seattle, WA. 2004–2005: Chief Scientist, MyStrands, Inc., Corvallis, OR. 1995-2013: Professor of computer science, Oregon State University. 1998–1999: Visiting Senior Scientist, Institute for the Investigation of Artificial Intelligence, Barcelona, Spain. (Sabbatical leave position) 1988–1995: Associate Professor of computer science, Oregon State University. 1991–1993: Senior Scientist, Arris Pharmaceutical Corporation, S. San Francisco, CA. 1985–1988: Assistant Professor of computer science, Oregon State University. 1979–1984: Research Assistant, Heuristic Programming Project, Department of Computer Science, Stanford University. 1979 (Summer): Member of Technical Staff, Bell Telephone Laboratories, Naperville, Illinois. Computer-to-computer file transfer and micro-code distribution to remote switching systems. 1977 (Summer): Assistant to the Director of Planning and Research, Oberlin College, Oberlin, Ohio. Developed institutional planning database. == Awards and honors == Thomas Dietterich was honored by Oregon State University in the spring of 2013 as a "Distinguished Professor" for his work as a pioneer in the field of machine learning and being one of the mostly highly cited scientists in his field. He has also earned exclusive "Fellow" status in the Association for the Advancement of Artificial Intelligence, the American Association for the Advancement of Science and the Association for Computing Machinery. Over his career, he obtained more than $30 million in research grants, helped build a world-class research group at Oregon State, and created three software companies. He also co-founded two of the field's leading journals and was elected first president of the International Machine Learning Society. His other awards and honors include: ACM Distinguished Lecturer, 2012-2013 Fellow, American Association for the Advancement of Science, 2007 Oregon State University, College of Engineering Collaboration Award, 2004 Winner, JAIR Award for Best Paper in Previous Five Years, 2003 Fellow, Association for Computing Machinery, elected 2003 Oregon State University, College of Engineering Research Award, 1998 Fellow, Association for the Advancement of Artificial Intelligence, elected 1994 NSF Presidential Young Investigator, 1987-92 Nominated for Carter Award for Graduate Teaching, 1987, 1988 IBM Graduate Fellow, 1982, 1983 Upsilon Pi Epsilon, 1996 Sigma Xi, 1979–present State Farm Companies Foundation Fellowship, 1978 Member, Board of Trustees, Oberlin College, 1977-1980 Graduation with Honors in Mathematics, Oberlin College, 1977 Phi Beta Kappa, 1977 National Merit Scholar, 1973 == Selected publications == Liping Liu, Thomas G. Dietterich, Nan Li, Zhi-Hua Zhou (2016). Transductive Optimization of Top k Precision. International Joint Conference on Artificial Intelligence (IJCAI-2016). pp. 1781–1787. New York, NY Md. Amran Siddiqui, Alan Fern, Thomas G. Dietterich, Shubhomoy Da
AI Image Generators Reviews: What Actually Works in 2026
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TiDB
TiDB (; "Ti" stands for Titanium) is an open-source NewSQL database that supports Hybrid Transactional and Analytical Processing (HTAP) workloads. Designed to be MySQL compatible, it is developed and supported primarily by PingCAP and licensed under Apache 2.0. It is also available as a paid product. TiDB drew its initial design inspiration from Google's Spanner and F1 papers. == Release history == See all TiDB release notes. On December 19, 2024, TiDB 8.5 GA was released. On May 24, 2024, TiDB 8.1 GA was released. On December 1, 2023, TiDB 7.5 GA was released. On May 31, 2023, TiDB 7.1 GA was released. On April 7, 2022, TiDB 6.0 GA was released. On April 7, 2021 TiDB 5.0 GA was released. On May 28, 2020, TiDB 4.0 GA was released. On June 28, 2019, TiDB 3.0 GA was released. On April 27, 2018, TiDB 2.0 GA was released. On October 16, 2017, TiDB 1.0 GA was released. == Main features == === Horizontal scalability === TiDB can expand both SQL processing and storage capacity by adding new nodes. === MySQL compatibility === TiDB acts like it is a MySQL 8.0 server to applications. A user can continue to use all of the existing MySQL client libraries. Because TiDB's SQL processing layer is built from scratch, it is not a MySQL fork. === Distributed transactions with strong consistency === TiDB internally shards a table into small range-based chunks that are referred to as "Regions". Each Region defaults to approximately 100 MB in size, and TiDB uses a two-phase commit internally to ensure that regions are maintained in a transactionally consistent way. === Cloud native === TiDB is designed to work in the cloud. The storage layer of TiDB, called TiKV, became a Cloud Native Computing Foundation (CNCF) member project in August 2018, as a Sandbox level project, and became an incubation-level hosted project in May 2019. TiKV graduated from CNCF in September 2020. === Real-time HTAP === TiDB can support both online transaction processing (OLTP) and online analytical processing (OLAP) workloads. TiDB has two storage engines: TiKV, a rowstore, and TiFlash, a columnstore. === High availability === TiDB uses the Raft consensus algorithm to ensure that data is available and replicated throughout storage in Raft groups. In the event of failure, a Raft group will automatically elect a new leader for the failed member, and self-heal the TiDB cluster. === Vector Search === TiDB has a vector data type and vector indexes. This allows TiDB to be used as Vector database in AI Retrieval-augmented generation applications. == Deployment methods == === Kubernetes with Operator === TiDB can be deployed in a Kubernetes-enabled cloud environment by using TiDB Operator. An Operator is a method of packaging, deploying, and managing a Kubernetes application. It is designed for running stateful workloads and was first introduced by CoreOS in 2016. TiDB Operator was originally developed by PingCAP and open-sourced in August, 2018. TiDB Operator can be used to deploy TiDB on a laptop, Google Cloud Platform’s Google Kubernetes Engine, and Amazon Web Services’ Elastic Container Service for Kubernetes. === TiUP === TiDB 4.0 introduces TiUP, a cluster operation and maintenance tool. It helps users quickly install and configure a TiDB cluster with a few commands. == Tools == TiDB has a series of open-source tools built around it to help with data replication and migration for existing MySQL and MariaDB users. === TiDB Data Migration (DM) === TiDB Data Migration (DM) is suited for replicating data from already sharded MySQL or MariaDB tables to TiDB. A common use case of DM is to connect MySQL or MariaDB tables to TiDB, treating TiDB almost as a slave, then directly run analytical workloads on this TiDB cluster in near real-time. === Backup & Restore === Backup & Restore (BR) is a distributed backup and restore tool for TiDB cluster data. === Dumpling === Dumpling is a data export tool that exports data stored in TiDB or MySQL. It lets users make logical full backups or full dumps from TiDB or MySQL. === TiDB Lightning === TiDB Lightning is a tool that supports high speed full-import of a large MySQL dump into a new TiDB cluster. This tool is used to populate an initially empty TiDB cluster with much data, in order to speed up testing or production migration. The import speed improvement is achieved by parsing SQL statements into key-value pairs, then directly generate Sorted String Table (SST) files to RocksDB. === TiCDC === TiCDC is a change data capture tool which streams data from TiDB to other systems like Apache Kafka.
AI Sales Assistants: Free vs Paid (2026)
Trying to pick the best AI sales assistant? An AI sales assistant is software that uses machine learning to help you get more done — it scales effortlessly from a single task to thousands. The best picks balance beginner-friendly simplicity with the depth power users need, and they ship updates often. Whether you are a beginner or a pro, the right AI sales assistant slots into your workflow and pays for itself fast. Read on for hands-on impressions, pricing tiers, and the standout features that matter.