In tropical analysis, tropical cryptography refers to the study of a class of cryptographic protocols built upon tropical algebras. In many cases, tropical cryptographic schemes have arisen from adapting classical (non-tropical) schemes to instead rely on tropical algebras. The case for the use of tropical algebras in cryptography rests on at least two key features of tropical mathematics: in the tropical world, there is no classical multiplication (a computationally expensive operation), and the problem of solving systems of tropical polynomial equations has been shown to be NP-hard. == Basic Definitions == The key mathematical object at the heart of tropical cryptography is the tropical semiring ( R ∪ { ∞ } , ⊕ , ⊗ ) {\displaystyle (\mathbb {R} \cup \{\infty \},\oplus ,\otimes )} (also known as the min-plus algebra), or a generalization thereof. The operations are defined as follows for x , y ∈ R ∪ { ∞ } {\displaystyle x,y\in \mathbb {R} \cup \{\infty \}} : x ⊕ y = min { x , y } {\displaystyle x\oplus y=\min\{x,y\}} x ⊗ y = x + y {\displaystyle x\otimes y=x+y} It is easily verified that with ∞ {\displaystyle \infty } as the additive identity, these binary operations on R ∪ { ∞ } {\displaystyle \mathbb {R} \cup \{\infty \}} form a semiring.
Situated approach (artificial intelligence)
In artificial intelligence research, the situated approach builds agents that are designed to behave effectively successfully in their environment. This requires designing AI "from the bottom-up" by focussing on the basic perceptual and motor skills required to survive. The situated approach gives a much lower priority to abstract reasoning or problem-solving skills. The approach was originally proposed as an alternative to traditional approaches (that is, approaches popular before 1985 or so). After several decades, classical AI technologies started to face intractable issues (e.g. combinatorial explosion) when confronted with real-world modeling problems. All approaches to address these issues focus on modeling intelligences situated in an environment. They have become known as the situated approach to AI. == Emergence of a concept == === From traditional AI to Nouvelle AI === During the late 1980s, the approach now known as Nouvelle AI (Nouvelle means new in French) was pioneered at the MIT Artificial Intelligence Laboratory by Rodney Brooks. As opposed to classical or traditional artificial intelligence, Nouvelle AI purposely avoided the traditional goal of modeling human-level performance, but rather tries to create systems with intelligence at the level of insects, closer to real-world robots. But eventually, at least at MIT new AI did lead to an attempt for humanoid AI in the Cog Project. === From Nouvelle AI to behavior-based and situated AI === The conceptual shift introduced by nouvelle AI flourished in the robotics area, given way to behavior-based robotics (BBR), a methodology for developing AI based on a modular decomposition of intelligence. It was made famous by Rodney Brooks: his subsumption architecture was one of the earliest attempts to describe a mechanism for developing BBAI. It is extremely popular in robotics and to a lesser extent to implement intelligent virtual agents because it allows the successful creation of real-time dynamic systems that can run in complex environments. For example, it underlies the intelligence of the Sony Aibo and many RoboCup robot teams. Realizing that in fact all these approaches were aiming at building not an abstract intelligence, but rather an intelligence situated in a given environment, they have come to be known as the situated approach. In fact, this approach stems out from early insights of Alan Turing, describing the need to build machines equipped with sense organs to learn directly from the real-world instead of focusing on abstract activities, such as playing chess. == Definitions == Classically, a software entity is defined as a simulated element, able to act on itself and on its environment, and which has an internal representation of itself and of the outside world. An entity can communicate with other entities, and its behavior is the consequence of its perceptions, its representations, and its interactions with the other entities. === AI loop === Simulating entities in a virtual environment requires simulating the entire process that goes from a perception of the environment, or more generally from a stimulus, to an action on the environment. This process is called the AI loop and technology used to simulate it can be subdivided in two categories. Sensorimotor or low-level AI deals with either the perception problem (what is perceived?) or the animation problem (how are actions executed?). Decisional or high-level AI deals with the action selection problem (what is the most appropriate action in response to a given perception, i.e. what is the most appropriate behavior?). === Traditional or symbolic AI === There are two main approaches in decisional AI. The vast majority of the technologies available on the market, such as planning algorithms, finite-state machines (FSA), or expert systems, are based on the traditional or symbolic AI approach. Its main characteristics are: It is top-down: it subdivides, in a recursive manner, a given problem into a series of sub-problems that are supposedly easier to solve. It is knowledge-based: it relies on a symbolic description of the world, such as a set of rules. However, the limits of traditional AI, which goal is to build systems that mimic human intelligence, are well-known: inevitably, a combinatorial explosion of the number of rules occurs due to the complexity of the environment. In fact, it is impossible to predict all the situations that will be encountered by an autonomous entity. === Situated or behavioral AI === In order to address these issues, another approach to decisional AI, also known as situated or behavioral AI, has been proposed. It does not attempt to model systems that produce deductive reasoning processes, but rather systems that behave realistically in their environment. The main characteristics of this approach are the following: It is bottom-up: it relies on elementary behaviors, which can be combined to implement more complex behaviors. It is behavior-based: it does not rely on a symbolic description of the environment, but rather on a model of the interactions of the entities with their environment. The goal of situated AI is to model entities that are autonomous in their environment. This is achieved thanks to both the intrinsic robustness of the control architecture, and its adaptation capabilities to unforeseen situations. === Situated agents === In artificial intelligence and cognitive science, the term situated refers to an agent which is embedded in an environment. The term situated is commonly used to refer to robots, but some researchers argue that software agents can also be situated if: they exist in a dynamic (rapidly changing) environment, which they can manipulate or change through their actions, and which they can sense or perceive. Examples might include web-based agents, which can alter data or trigger processes (such as purchases) over the Internet, or virtual-reality bots which inhabit and change virtual worlds, such as Second Life. Being situated is generally considered to be part of being embodied, but it is useful to consider each perspective individually. The situated perspective emphasizes that intelligent behavior derives from the environment and the agent's interactions with it. The nature of these interactions are defined by an agent's embodiment. == Implementation principles == === Modular decomposition === The most important attribute of a system driven by situated AI is that the intelligence is controlled by a set of independent semi-autonomous modules. In the original systems, each module was actually a separate device or was at least conceived of as running on its own processing thread. Generally, though, the modules are just abstractions. In this respect, situated AI may be seen as a software engineering approach to AI, perhaps akin to object oriented design. Situated AI is often associated with reactive planning, but the two are not synonymous. Brooks advocated an extreme version of cognitive minimalism which required initially that the behavior modules were finite-state machines and thus contained no conventional memory or learning. This is associated with reactive AI because reactive AI requires reacting to the current state of the world, not to an agent's memory or preconception of that world. However, learning is obviously key to realistic strong AI, so this constraint has been relaxed, though not entirely abandoned. === Action selection mechanism === The situated AI community has presented several solutions to modeling decision-making processes, also known as action selection mechanisms. The first attempt to solve this problem goes back to subsumption architectures, which were in fact more an implementation technique than an algorithm. However, this attempt paved the way to several others, in particular the free-flow hierarchies and activation networks. A comparison of the structure and performances of these two mechanisms demonstrated the advantage of using free-flow hierarchies in solving the action selection problem. However, motor schemas and process description languages are two other approaches that have been used with success for autonomous robots. == Notes and references == Arsenio, Artur M. (2004) Towards an embodied and situated AI, In: Proceedings of the International FLAIRS conference, 2004. (online) The Artificial Life Route To Artificial Intelligence: Building Embodied, Situated Agents, Luc Steels and Rodney Brooks Eds., Lawrence Erlbaum Publishing, 1995. (ISBN 978-0805815184) Rodney A. Brooks Cambrian Intelligence (MIT Press, 1999) ISBN 0-262-52263-2; collection of early papers including "Intelligence without representation" and "Intelligence without reason", from 1986 & 1991 respectively. Ronald C. Arkin Behavior-Based Robotics (MIT Press, 1998) ISBN 0-262-01165-4 Hendriks-Jansen, Horst (1996) Catching Ourselves in the Act: Situated Activity, Interactive Emergence, Evolution, and Human Thought. Cambridge, Mass.: MIT Press.
Shaded Picture System
The Shaded Picture System was a 3D raster computer display processor introduced by Evans & Sutherland in October 1973. The Shaded Picture System was the first general-purpose, commercially available raster computer graphics display processor capable of real-time, shaded 3D graphics. It could only display black and white graphics at a resolution of 256 by 256. It was extremely expensive, and very few units were ever sold. == History == The principles of shaded, hidden-line true 3D graphics were pioneered at the University of Utah in 1967. However, this algorithm was slow and would take several minutes to produce an image. In 1970, Gary Watkins developed a FORTRAN simulator of a faster algorithm that would theoretically generate shaded 3D images in real-time, "if implemented in suitable hardware". The simulator itself was still not capable of real-time shaded 3D image rendering. Evans & Sutherland developed a functional prototype of this "suitable hardware", which was later sold as the Shaded Picture System in 1973. About a year earlier in 1972, Evans & Sutherland sold the first and only CT1 to Case Western Reserve University. The CT1, or Continuous Tone 1, was a specialized image generator, not meant as a marketable or mass-produced product. At the time, the CT1, along with G.E./NASA's upgraded Electronic Scene Generator from 1971, would have been the only real-time raster graphics systems sold to customers comparable to the Shaded Picture System, although both the CT1 and Electronic Scene Generator were intentionally produced as one-off products and specialized for the needs of their customers. The Shaded Picture System, in contrast, was intentionally marketed.In early 1975, Evans & Sutherland demonstrated a random-access video frame buffer using relatively low-cost semiconductor memory, which was much more capable than the Shaded Picture System. When interfaced with a (non-shaded) E&S Picture System, the frame buffer had a resolution of 512 by 512 in grayscale and partial color capabilities. By the end of 1975, this frame buffer was commercially available.
Anthem medical data breach
The Anthem medical data breach was a medical data breach of information held by Elevance Health, known at that time as Anthem Inc. On February 4, 2015, Anthem, Inc. disclosed that criminal hackers had broken into its servers and had potentially stolen over 37.5 million records that contain personally identifiable information from its servers. On February 24, 2015 Anthem raised the number to 78.8 million people whose personal information had been affected. According to Anthem, Inc., the data breach extended into multiple brands Anthem, Inc. uses to market its healthcare plans, including, Anthem Blue Cross, Anthem Blue Cross and Blue Shield, Blue Cross and Blue Shield of Georgia, Empire Blue Cross and Blue Shield, Amerigroup, Caremore, and UniCare. Healthlink says that it was also a victim. Anthem says users' medical information and financial data were not compromised. Anthem has offered free credit monitoring in the wake of the breach. Michael Daniel, chief adviser on cybersecurity for President Barack Obama, said he would be changing his own password. According to The New York Times, about 80 million company records were hacked, and there is a fear that the stolen data will be used for identity theft. The compromised information contained names, birthdays, medical IDs, social security numbers, street addresses, e-mail addresses and employment information, including income data. == Theft of the data == The data was stolen over a period of weeks the month before the data breach was discovered. Because no medical information was compromised, Anthem was not required by law to encrypt the data. However, Anthem faced several civil class-action lawsuits, which were settled in 2017 at a cost of $115 million. Anthem did not admit any wrongdoing in the settlement. Data from the attack is expected to be sold on the black market. == Impact == Persons whose data was stolen could have resulting problems about identity theft for the rest of their lives. Anthem had a US$100 million insurance policy for cyber problems from American International Group. One report suggested that all of this money could be consumed by the process of notifying customers of the breach. == Responses == Anthem hired Mandiant, a cybersecurity firm, to review their security systems and advised people whose data was stolen to monitor their accounts and remain vigilant. The theft of the data raised fears generally about the theft of medical information. A writer from Harvard Law School suggested that this data breach might spark reform of security practices and government data safety regulation. An investigation conducted by several state insurance commissioners blames the breach on an attacker whose identity was withheld, and claims that the breach was likely ordered by a foreign government whose name was withheld. It also concluded that Anthem had taken reasonable measures to protect its data before the breach and that its remediation plan was effective at shutting down the breach once it was discovered. It also marks the starting date of the breach as February 18, 2014. The lead investigator was the Indiana Department of Insurance (DOI) -- Anthem's principal regulator, because Anthem is headquartered in Indiana. The Indiana DOI hired independent auditors to conduct a security assessment at Anthem, which concluded, "While deficiencies within Anthem’s cybersecurity posture were noted by the Examination Team, these deficiencies were not, in our experience, uncommon to companies comparable to Anthem in size and scope. While the pre-breach deficiencies impacted Anthem’s ability to reduce the likelihood of and quickly detect the Data Breach, the controls implemented subsequent to the Data Breach should improve Anthem’s ability to detect future breaches and enable Anthem to respond more effectively to a future attack than was the case in this instance." Federal regulators also conducted an investigation of the Anthem data breach, resulting in a $16 million settlement between Anthem and the Department of Health and Human Services (HHS) -- by far the largest HHS data breach settlement. An HHS Director overseeing the investigation said, "The largest health data breach in U.S. history fully merits the largest HIPAA settlement in history. Unfortunately, Anthem failed to implement appropriate measures for detecting hackers who had gained access to their system to harvest passwords and steal people's private information." The HHS settlement also required Anthem to perform a risk assessment and correct any identified deficiencies in its cybersecurity, with HHS oversight of Anthem's progress. Approximately 100 private class action lawsuits were filed against Anthem over the data breach and consolidated in California federal court, in front of Judge Koh, a respected authority in data breach litigation. After contested briefing over who should lead the litigation efforts, Judge Koh appoints Eve Cervantez of Altshuler Berzon and Andy Friedman of Cohen Milstein as co-lead counsel, and appointed Eric Gibbs of Gibbs Law Group and Michael Sobel of Lieff Cabraser to head a Plaintiffs' Steering Committee. In 2017, Anthem agreed to settle the litigation for $115 million, the largest ever data breach settlement at the time. The attorneys requested $38 million in fees for their work on the case, but Judge Koh slashed the fee request, finding that only $31 million in fees were merited.
Spatiotemporal reservoir resampling
Spatiotemporal reservoir resampling, commonly known as ReSTIR (from "Reservoir-based SpatioTemporal Importance Resampling"), is a collection of computer graphics techniques for reusing samples during rendering. It was developed primarily to allow more realistic lighting in real-time rendering, because relatively few rays can be traced per pixel while maintaining an acceptable frame rate. It can also be used to speed up off-line path tracing. The first ReSTIR paper, published in 2020, provided algorithms for direct lighting, allowing scenes containing thousands of lights to be rendered in real time on a high-end GPU. Researchers later proposed versions for rendering indirect lighting (and more recently, motion blur and depth of field) and built up a framework of mathematical concepts and notation conventions that help analyze such algorithms. A major focus of this work is removing or reducing the bias that could be introduced when samples from other pixels or frames are reused—or selectively allowing some bias in order to speed up rendering and reduce variance (visible as "noise" in the image). Versions for path tracing apply transformations called shift mappings to samples, typically reusing parts of paths closer to the light and modifying the portion closer to the camera. ReSTIR-related papers and talks have been presented every year at the SIGGRAPH conference since 2020. One of the first games to incorporate ReSTIR into its rendering was Cyberpunk 2077. == Overview and motivation == According to Chris Wyman, one of the co-authors of the original paper, although developers commonly thought that bias was acceptable for real-time rendering, end users (e.g. gamers) are well-aware of the artifacts caused by bias and many have a negative opinion of common sample-reuse techniques such as temporal anti-aliasing (TAA), which may cause "ghosting" when the camera moves, and denoising, which causes blurring and other artifacts. ReSTIR techniques can reduce or avoid these types of bias by reusing samples of the set of possible paths taken by light to reach the camera, instead of reusing rendered pixel color values (which are typically the average of multiple samples, discarding information such as the direction of the light). While other techniques reuse samples in a generic post-processing step, ReSTIR passes can test for shadowing, and reused samples are converted into pixel color values by rendering code that takes the characteristics of different materials into account (e.g. by implementing BRDFs). However the output of ReSTIR is noisy, and a denoising pass is typically still used. Stochastic ray tracing techniques such as path tracing need to average multiple samples (produced by tracing individual rays) in order to render a visually acceptable image. When using a simple unbiased renderer based on Monte Carlo integration, halving the deviation of the result (apparent as "noise" in the image) requires multiplying the number of samples by four, meaning that a rapidly increasingly number of samples is needed to improve quality, Standard ways to mitigate this problem include importance sampling (which requires finding improved sampling distributions for specific situations), and quasi-Monte Carlo integration (which usually still requires tracing a large number of rays). ReSTIR offers a solution that multiplies the effective number of samples while tracing a fixed number of additional rays per frame. Temporal reuse multiplies the effective sample count by the number of frames rendered. Spatial reuse multiplies the effective count by the number of neighboring pixels examined. These two types of reuse can be combined, allowing spatial reuse to be applied recursively, which appears to offer an exponentially increasing effective sample count, however this is quickly limited by the size of the neighborhood used for spatial reuse. Spatial reuse is also potentially less effective near shadow and object edges, especially for objects with fine geometric detail, and temporal reuse is limited by movement of the camera and scene elements. == Variations == Many variations of ReSTIR have been proposed that generalize or improve the original technique (which builds on an earlier method called RIS), specialize it for particular types of illumination or other visual effects, or allow incorporation into rendering algorithms other than standard path tracing. Some published versions are listed below. == Algorithms == === Basic algorithm === ReSTIR uses a combination of resampled importance sampling (RIS) and weighted reservoir sampling (WRS) which the authors call streaming RIS. RIS processes samples from an initial probability distribution (e.g. a probability distribution for which a cheap sampling method exists) and generates samples in a new probability distribution (e.g. a sampling distribution that is optimal for rendering but is impractical to draw samples from directly). WRS allows this to be done while storing only a small number of samples in memory, which is especially helpful on a GPU. Information about the samples is stored in a data structure called a reservoir. WRS also allows samples from multiple reservoirs to be combined ("merged") into a single reservoir; this is crucial for sample reuse. Each pixel has a reservoir, typically containing only a single sample when ReSTIR is used for real-time rendering (some implementations use a larger number, e.g. four samples). The reservoir is typically initialized to a sample drawn using a simple method and is then updated by RIS steps and by reservoir merging, so that the pixel value produced by shading using the sample(s) currently in the reservoir, times the weight for the sample, is always an unbiased estimate of the correct pixel value. If appropriate resampling steps are used, the variance of this estimate (or some function of it, typically the luminance of the RGB color value) decreases with each step. A possible sequence of steps performed for each frame, suitable for computing unbiased direct illumination (DI) is: Perform reservoir resampling by drawing multiple light samples and using streaming RIS to choose one, using probabilities based on a target function, e.g. the luminance of the sample's contribution to the pixel. A weight is also computed for the sample. Typically, a single visibility check is performed here, after choosing a sample, setting the weight to 0 if the light is shadowed. Resampling (combined with the visibility check) ensures that the expected value of the weight times the sample brightness is the correct (unbiased) value for the pixel. (temporal reuse) For each pixel, merge the sample(s) from the previous frame into the current reservoir. Multiple importance sampling (MIS) weights are used to avoid bias due to the fact that the samples in the previous frame's reservoirs may have a different target probability distribution if the objects, lights, or camera have moved. (spatial reuse) For each pixel, choose one or more neighboring pixels and merge their samples into the current pixel's reservoir. Multiple importance sampling (MIS) weights are used to avoid bias due to the fact that the samples in each pixel's reservoir have a different target probability distribution. Because computing unbiased MIS weights requires tracing additional rays (along with other work such as evaluating BRDFs), real-time rendering often uses only a single neighboring pixel. Use the sample in each pixel's reservoir, along with its weight, to determine the color of the pixel for the current frame. Alternatively, multiple samples examined during the preceding steps may be averaged and used to shade the pixel instead (decoupled shading and sampling). For direct lighting, the initial samples used in step 1 are typically drawn by importance sampling from the set of lights in a scene. The algorithm above (from the original ReSTIR paper) draws many lower-quality light samples (e.g. 32) using a fast method, without considering visibility, and chooses one using streaming RIS. Visibility is then tested for the final chosen sample. Considering visibility for each sample drawn would require tracing 32 rays, which would make it much more expensive. The intent is to reduce the number of rays traced, relying on the sample reuse in steps 2 and 3 to make up for the loss of quality caused by rejecting many of the rays due to shadowing. A large part of the initial efforts to optimize ReSTIR (to make it run in real-time on available hardware) went into reducing the cost of randomly sampling the lights. Glossy surfaces may require a larger number of samples, and combining light sampling with BRDF sampling (using MIS) may increase quality. Step 2 (temporal reuse) is sometimes skipped for off-line rendering, and the output of multiple repetitions of initial sampling and spatial reuse is averaged instead; this helps avoids artifacts due to correlations. Step 3 (spatial reuse) may be repeated multiple times in a single frame.
Tango (platform)
Tango (named Project Tango while in testing) was an augmented reality computing platform, developed and authored by the Advanced Technology and Projects (ATAP), a skunkworks division of Google. It used computer vision to enable mobile devices, such as smartphones and tablets, to detect their position relative to the world around them without using GPS or other external signals. This allowed application developers to create user experiences that include indoor navigation, 3D mapping, physical space measurement, environmental recognition, augmented reality, and windows into a virtual world. The first product to emerge from ATAP, Tango was developed by a team led by computer scientist Johnny Lee, a core contributor to Microsoft's Kinect. In an interview in June 2015, Lee said, "We're developing the hardware and software technologies to help everything and everyone understand precisely where they are, anywhere." Google produced two devices to demonstrate the Tango technology: the Peanut phone and the Yellowstone 7-inch tablet. More than 3,000 of these devices had been sold as of June 2015, chiefly to researchers and software developers interested in building applications for the platform. In the summer of 2015, Qualcomm and Intel both announced that they were developing Tango reference devices as models for device manufacturers who use their mobile chipsets. At CES, in January 2016, Google announced a partnership with Lenovo to release a consumer smartphone during the summer of 2016 to feature Tango technology marketed at consumers, noting a less than $500 price-point and a small form factor below 6.5 inches. At the same time, both companies also announced an application incubator to get applications developed to be on the device on launch. On 15 December 2017, Google announced that they would be ending support for Tango on March 1, 2018, in favor of ARCore. == Overview == Tango was different from other contemporary 3D-sensing computer vision products, in that it was designed to run on a standalone mobile phone or tablet and was chiefly concerned with determining the device's position and orientation within the environment. The software worked by integrating three types of functionality: Motion-tracking: using visual features of the environment, in combination with accelerometer and gyroscope data, to closely track the device's movements in space Area learning: storing environment data in a map that can be re-used later, shared with other Tango devices, and enhanced with metadata such as notes, instructions, or points of interest Depth perception: detecting distances, sizes, and surfaces in the environment Together, these generate data about the device in "six degrees of freedom" (3 axes of orientation plus 3 axes of position) and detailed three-dimensional information about the environment. Project Tango was also the first project to graduate from Google X in 2012 Applications on mobile devices use Tango's C and Java APIs to access this data in real time. In addition, an API was also provided for integrating Tango with the Unity game engine; this enabled the conversion or creation of games that allow the user to interact and navigate in the game space by moving and rotating a Tango device in real space. These APIs were documented on the Google developer website. == Applications == Tango enabled apps to track a device's position and orientation within a detailed 3D environment, and to recognize known environments. This allowed the creations of applications such as in-store navigation, visual measurement and mapping utilities, presentation and design tools, and a variety of immersive games. At Augmented World Expo 2015, Johnny Lee demonstrated a construction game that builds a virtual structure in real space, an AR showroom app that allows users to view a full-size virtual automobile and customize its features, a hybrid Nerf gun with mounted Tango screen for dodging and shooting AR monsters superimposed on reality, and a multiplayer VR app that lets multiple players converse in a virtual space where their avatar movements match their real-life movements. Tango apps are distributed through Play. Google has encouraged the development of more apps with hackathons, an app contest, and promotional discounts on the development tablet. == Devices == As a platform for software developers and a model for device manufacturers, Google created two Tango devices. === The Peanut phone === "Peanut" was the first production Tango device, released in the first quarter of 2014. It was a small Android phone with a Qualcomm MSM8974 quad-core processor and additional special hardware including a fisheye motion camera, "RGB-IR" camera for color image and infrared depth detection, and Movidius Vision processing units. A high-performance accelerometer and gyroscope were added after testing several competing models in the MARS lab at the University of Minnesota. Several hundred Peanut devices were distributed to early-access partners including university researchers in computer vision and robotics, as well as application developers and technology startups. Google stopped supporting the Peanut device in September 2015, as by then the Tango software stack had evolved beyond the versions of Android that run on the device. === The Yellowstone tablet === "Yellowstone" was a 7-inch tablet with full Tango functionality, released in June 2014, and sold as the Project Tango Tablet Development Kit. It featured a 2.3 GHz quad-core Nvidia Tegra K1 processor, 128GB flash memory, 1920x1200-pixel touchscreen, 4MP color camera, fisheye-lens (motion-tracking) camera, an IR projector with RGB-IR camera for integrated depth sensing, and 4G LTE connectivity. As of May 27, 2017, the Tango tablet is considered officially unsupported by Google. ==== Testing by NASA ==== In May 2014, two Peanut phones were delivered to the International Space Station to be part of a NASA project to develop autonomous robots that navigate in a variety of environments, including outer space. The soccer-ball-sized, 18-sided polyhedral SPHERES robots were developed at the NASA Ames Research Center, adjacent to the Google campus in Mountain View, California. Andres Martinez, SPHERES manager at NASA, said "We are researching how effective [Tango's] vision-based navigation abilities are for performing localization and navigation of a mobile free flyer on ISS. === Intel RealSense smartphone === Announced at Intel's Developer Forum in August 2015, and offered to public through a Developer Kit since January 2016. It incorporated a RealSense ZR300 camera which had optical features required for Tango, such as the fisheye camera. === Lenovo Phab 2 Pro === Lenovo Phab 2 Pro was the first commercial smartphone with the Tango Technology, the device was announced at the beginning of 2016, launched in August, and available for purchase in the US in November. The Phab 2 Pro had a 6.4 inch screen, a Snapdragon 652 processor, and 64 GB of internal storage, with a rear facing 16 Megapixels camera and 8 MP front camera. === Asus Zenfone AR === Asus Zenfone AR, announced at CES 2017, was the second commercial smartphone with the Tango Technology. It ran Tango AR & Daydream VR on Snapdragon 821, with 6GB or 8GB of RAM and 128 or 256GB of internal memory depending on the configuration.
StyleGAN
The Style Generative Adversarial Network, or StyleGAN for short, is an extension to the GAN architecture introduced by Nvidia researchers in December 2018, and made source available in February 2019. StyleGAN depends on Nvidia's CUDA software, GPUs, and Google's TensorFlow, or Meta AI's PyTorch, which supersedes TensorFlow as the official implementation library in later StyleGAN versions. The second version of StyleGAN, called StyleGAN2, was published on February 5, 2020. It removes some of the characteristic artifacts and improves the image quality. Nvidia introduced StyleGAN3, described as an "alias-free" version, on June 23, 2021, and made source available on October 12, 2021. == History == A direct predecessor of the StyleGAN series is the Progressive GAN, published in 2017. In December 2018, Nvidia researchers distributed a preprint with accompanying software introducing StyleGAN, a GAN for producing an unlimited number of (often convincing) portraits of fake human faces. StyleGAN was able to run on Nvidia's commodity GPU processors. In February 2019, Uber engineer Phillip Wang used the software to create the website This Person Does Not Exist, which displayed a new face on each web page reload. Wang himself has expressed amazement, given that humans are evolved to specifically understand human faces, that nevertheless StyleGAN can competitively "pick apart all the relevant features (of human faces) and recompose them in a way that's coherent." In September 2019, a website called Generated Photos published 100,000 images as a collection of stock photos. The collection was made using a private dataset shot in a controlled environment with similar light and angles. Similarly, two faculty at the University of Washington's Information School used StyleGAN to create Which Face is Real?, which challenged visitors to differentiate between a fake and a real face side by side. The faculty stated the intention was to "educate the public" about the existence of this technology so they could be wary of it, "just like eventually most people were made aware that you can Photoshop an image". The second version of StyleGAN, called StyleGAN2, was published on February 5, 2020. It removes some of the characteristic artifacts and improves the image quality. In 2021, a third version was released, improving consistency between fine and coarse details in the generator. Dubbed "alias-free", this version was implemented with PyTorch. === Illicit use === In December 2019, Facebook took down a network of accounts with false identities, and mentioned that some of them had used profile pictures created with machine learning techniques. == Architecture == === Progressive GAN === Progressive GAN is a method for training GAN for large-scale image generation stably, by growing a GAN generator from small to large scale in a pyramidal fashion. Like SinGAN, it decomposes the generator as G = G 1 ∘ G 2 ∘ ⋯ ∘ G N {\displaystyle G=G_{1}\circ G_{2}\circ \cdots \circ G_{N}} , and the discriminator as D = D N ∘ D N − 1 ∘ ⋯ ∘ D 1 {\displaystyle D=D_{N}\circ D_{N-1}\circ \cdots \circ D_{1}} . During training, at first only G N , D N {\displaystyle G_{N},D_{N}} are used in a GAN game to generate 4x4 images. Then G N − 1 , D N − 1 {\displaystyle G_{N-1},D_{N-1}} are added to reach the second stage of GAN game, to generate 8x8 images, and so on, until we reach a GAN game to generate 1024x1024 images. To avoid discontinuity between stages of the GAN game, each new layer is "blended in" (Figure 2 of the paper). For example, this is how the second stage GAN game starts: Just before, the GAN game consists of the pair G N , D N {\displaystyle G_{N},D_{N}} generating and discriminating 4x4 images. Just after, the GAN game consists of the pair ( ( 1 − α ) + α ⋅ G N − 1 ) ∘ u ∘ G N , D N ∘ d ∘ ( ( 1 − α ) + α ⋅ D N − 1 ) {\displaystyle ((1-\alpha )+\alpha \cdot G_{N-1})\circ u\circ G_{N},D_{N}\circ d\circ ((1-\alpha )+\alpha \cdot D_{N-1})} generating and discriminating 8x8 images. Here, the functions u , d {\displaystyle u,d} are image up- and down-sampling functions, and α {\displaystyle \alpha } is a blend-in factor (much like an alpha in image composing) that smoothly glides from 0 to 1. === StyleGAN === StyleGAN is designed as a combination of Progressive GAN with neural style transfer. The key architectural choice of StyleGAN-1 is a progressive growth mechanism, similar to Progressive GAN. Each generated image starts as a constant 4 × 4 × 512 {\displaystyle 4\times 4\times 512} array, and repeatedly passed through style blocks. Each style block applies a "style latent vector" via affine transform ("adaptive instance normalization"), similar to how neural style transfer uses Gramian matrix. It then adds noise, and normalize (subtract the mean, then divide by the variance). At training time, usually only one style latent vector is used per image generated, but sometimes two ("mixing regularization") in order to encourage each style block to independently perform its stylization without expecting help from other style blocks (since they might receive an entirely different style latent vector). After training, multiple style latent vectors can be fed into each style block. Those fed to the lower layers control the large-scale styles, and those fed to the higher layers control the fine-detail styles. Style-mixing between two images x , x ′ {\displaystyle x,x'} can be performed as well. First, run a gradient descent to find z , z ′ {\displaystyle z,z'} such that G ( z ) ≈ x , G ( z ′ ) ≈ x ′ {\displaystyle G(z)\approx x,G(z')\approx x'} . This is called "projecting an image back to style latent space". Then, z {\displaystyle z} can be fed to the lower style blocks, and z ′ {\displaystyle z'} to the higher style blocks, to generate a composite image that has the large-scale style of x {\displaystyle x} , and the fine-detail style of x ′ {\displaystyle x'} . Multiple images can also be composed this way. === StyleGAN2 === StyleGAN2 improves upon StyleGAN in two ways. One, it applies the style latent vector to transform the convolution layer's weights instead, thus solving the "blob" problem. The "blob" problem roughly speaking is because using the style latent vector to normalize the generated image destroys useful information. Consequently, the generator learned to create a "distraction" by a large blob, which absorbs most of the effect of normalization (somewhat similar to using flares to distract a heat-seeking missile). Two, it uses residual connections, which helps it avoid the phenomenon where certain features are stuck at intervals of pixels. For example, the seam between two teeth may be stuck at pixels divisible by 32, because the generator learned to generate teeth during stage N-5, and consequently could only generate primitive teeth at that stage, before scaling up 5 times (thus intervals of 32). This was updated by the StyleGAN2-ADA ("ADA" stands for "adaptive"), which uses invertible data augmentation. It also tunes the amount of data augmentation applied by starting at zero, and gradually increasing it until an "overfitting heuristic" reaches a target level, thus the name "adaptive". === StyleGAN3 === StyleGAN3 improves upon StyleGAN2 by solving the "texture sticking" problem, which can be seen in the official videos. They analyzed the problem by the Nyquist–Shannon sampling theorem, and argued that the layers in the generator learned to exploit the high-frequency signal in the pixels they operate upon. To solve this, they proposed imposing strict lowpass filters between each generator's layers, so that the generator is forced to operate on the pixels in a way faithful to the continuous signals they represent, rather than operate on them as merely discrete signals. They further imposed rotational and translational invariance by using more signal filters. The resulting StyleGAN-3 is able to generate images that rotate and translate smoothly, and without texture sticking.