Probabilistic Semantic Data Association for Collaborative Human-Robot Sensing
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Humans cannot always be treated as oracles for collaborative sensing. Robots thus need to maintain beliefs over unknown world states when receiving semantic data from humans, as well as account for possible discrepancies between human-provided data and these beliefs. To this end, this paper introduces the problem of semantic data association (SDA) in relation to conventional data association problems for sensor fusion. It then, develops a novel probabilistic semantic data association (PSDA) algorithm to rigorously address SDA in general settings. Simulations of a multi-object search task show that PSDA enables robust collaborative state estimation under a wide range of conditions.
Feed Forward NNs and Gradient Descent
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Feed-forward neural networks are a simple type of network that simply rely on data to be "fed-forward" through a series of layers that makes decisions on how to categorize datum. Gradient descent is a type of optimization tool that is often used to train machines. These two areas in ML are good starting points and are the easiest types of neural network/optimization to understand.
AI Institutes Cyberinfrastructure Documents: SAIL Meeting
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Materials from the SAIL meeting (https://aiinstitutes.org/2023/06/21/sail-2023-summit-for-ai-leadership/). A space where AI researchers can learn about using ACCESS resources for AI applications and research.
Ask.CI Q&A Platform for Research Computing
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Spatial Data Science in the Cloud (Alpine HPC) using Python
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Spatial Data Science is a growing field across a wide range of industries and disciplines. The open-source programming language Python has many libraries that support spatial analysis, but what do you do when your computer is unable to tackle the massive file sizes of high-resolution data and the computing power required in your analysis?
There materials have been prepared to teach you spatial data science and how to execute your analysis using a high-performance computer (HPC).
A visual introduction to Gaussian Belief Propagation
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This website is an interactive introduction to Gaussian Belief Propagation (GBP). A probabilistic inference algorithm that operates by passing messages between the nodes of arbitrarily structured factor graphs. A special case of loopy belief propagation, GBP updates rely only on local information and will converge independently of the message schedule. The key argument is that, given recent trends in computing hardware, GBP has the right computational properties to act as a scalable distributed probabilistic inference framework for future machine learning systems.
Singularity/Apptainer User Manuals
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Singularity/Apptainer is a free and open-source container platform that allows users to build and run containers on high performance computing resources.
SingularityCE is the community edition of Singularity maintained by Sylabs, a company that also offers commercial Singularity products and services.
Apptainer is a fork of Singularity, maintained by the Linux foundation, a community of developers and users who are passionate about open source software.
Examples of code using JSON nlohmann header only Library for C++
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This code showcases how to work with the header-only nlohmann JSON library for C++. In order to compile, change the extensions from json_test.txt to json_test.cpp and test.txt to test.json. You must also download the header files from https://github.com/nlohmann/json. Complilation instructions are at the bottom of json_test. This code is very helpful for creating config files, for example.
Info about retiring of R GIS packages rgdal, rgeos, maptools in 2023
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R GIS packages "rgdal", "rgeos", and "maptools" are package set to be archived and no longer supported by end of 2023. Many other R GIS packages are build on top of these packages, including "sp" and "raster". The packages recommended as replacement for "sp" is "sf" and the replacement for "raster" is "terra". Below are links to published articles regarding this transition. Additionally, I am including links to the documentation for the new packages recommended to be used "sf" and "terra".
Solving differential equations with Physics-informed Neural Network
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Differential equations, the backbone of countless physical phenomena, have traditionally been solved using numerical methods or analytical techniques. However, the advent of deep learning introduces an intriguing alternative: Physics-Informed Neural Networks (PINNs). By leveraging the representational power of neural networks and integrating physical laws (like differential equations), PINNs offer a novel approach to solving complex problems. This guide walks through an implementation of a PINN to solve DEs such as the logistic equation.
Master’s in Cybersecurity Degree Essentials
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Offers comprehensive information on various master's degree options in cybersecurity, including program details, admission requirements, and career opportunities, helping students make informed decisions about pursuing an advanced degree in cybersecurity.
R for Research Scientists
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A book for researchers who contribute code to R projects: This booklet is the result of my work with the Social Cognition for Social Justice lab. It was developed in response to questions I was getting from students; both grad students that were making software design decisions, and undergraduates who were using things like version control for the first time. Although many tutorials and resources exist for these topics, there was not a single source that I thought covered just enough material to build up to the workflow used by the lab without extraneous detail.
Fine-tuning LLMs with PEFT and LoRA
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As LLMs get larger fine-tuning to the full extent can become difficult to train on consumer hardware. Storing and deploying these tuned models can also be quite expensive and difficult to store. With PEFT (parameter -efficent fine tuning), it approaches fine-tune on a smaller scale of model parameters while freezing most parameters of the pretrained LLMs. Basically it is providing full performance that which is similar if not better than full fine tuning while only having a small number of trainable parameters. This source explains that as well as going over LORA diagrams and a code walk through.
FreeSurfer Tutorials
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The official MGH / Harvard tutorial page for FreeSurfer. The FreeSurfer group has provided and designed a series of tutorials for using FreeSurfer and for getting acquainted with the concepts needed to perform its various modes of analysis and processing of MRI data. The tutorials are designed to be followed along in a terminal window where commands can be copy/pasted instead of typed.
AHPCC documentary
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This link is a documentary website to use AHPCC.
Beautiful Soup - Simple Python Web Scraping
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This package lets you easily scrape websites and extract information based on html tags and various other metadata found in the page. It can be useful for large-scale web analysis and other tasks requiring automated data gathering.
marimo | a next generation python notebook
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Introduction seminar for new reactive python notebook from marimo ambassador.
Better Scientific Software (BSSw)
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The Better Scientific Software (BSSw) project provides a community to collaborate and learn about best practices in scientific software development. Software—the foundation of discovery in computational science & engineering—faces increasing complexity in computational models and computer architectures. BSSw provides a central hub for the community to address pressing challenges in software productivity, quality, and sustainability.
Bioinformatics Workflow Management with Nextflow
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Nextflow is an open-source, domain-specific language and workflow manager designed for the execution and coordination of scientific and data-intensive computational workflows. It was specifically created to address the challenges faced by researchers and scientists when dealing with complex and scalable computational pipelines, particularly in fields such as bioinformatics, genomics, and data analysis.
Here provided some links to start with.
Neural Networks in Julia
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Making a neural network has never been easier! The following link directs users to the Flux.jl package, the easiest way of programming a neural network using the Julia programming language. Julia is the fastest growing software language for AI/ML and this package provides a faster alternative to Python's TensorFlow and PyTorch with a 100% Julia native programming and GPU support.
DAGMan for orchestrating complex workflows on HTC resources (High Throughput Computing)
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DAGMan (Directed Acyclic Graph Manager) is a meta-scheduler for HTCondor. It manages dependencies between jobs at a higher level than the HTCondor Scheduler.
It is a workflow management system developed by the High-Throughput Computing (HTC) community, specifically for managing large-scale scientific computations and data analysis tasks. It enables users to define complex workflows as directed acyclic graphs (DAGs). In a DAG, nodes represent individual computational tasks, and the directed edges represent dependencies between the tasks. DAGMan manages the execution of these tasks and ensures that they are executed in the correct order based on their dependencies.
The primary purpose of DAGMan is to simplify the management of large-scale computations that consist of numerous interdependent tasks. By defining the dependencies between tasks in a DAG, users can easily express the order of execution and allow DAGMan to handle the scheduling and coordination of the tasks. This simplifies the development and execution of complex scientific workflows, making it easier to manage and track the progress of computations.
MATLAB with other Programming Languages
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MATLAB is a really useful tool for data analysis among other computational work. This tutorial takes you through using MATLAB with other programming languages including C, C++, Fortran, Java, and Python.
MPI Resources
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Workshop for beginners and intermediate students in MPI which includes helpful exercises. Open MPI documentation.
Displaying Scientific Data with Tableau
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Tableau is a popular and capable software product for creating charts that present data and dashboards that allow you to explore data. It is typically used to present business or statistical data, but can also create compelling visualizations of scientific data. However, scientific data is often generated or stored in formats that are not immediately accessible by Tableau. This seminar will explore the data formats that work best with Tableau and the available mechanisms for generating scientific data in (or converting it to) those formats so that you can apply the full power of Tableau to create the best possible visualizations of your data.
Time-Series LSTMs Python Walkthrough
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A walkthrough (with a Google Colab link) on how to implement your own LSTM to observe time-dependent behavior.