Simultaneous localization and mapping (SLAM) based on particle filtering has been extensively employed in indoor scenarios due to its high efficiency. However, in geometry feature-less scenes, the accuracy is severely reduced due to lack of constraints. In this article, we propose an anti-degeneracy system based on deep learning. Firstly, we design a scale-invariant linear mapping to convert coordinates in continuous space into discrete indexes, in which a data augmentation method based on Gaussian model is proposed to ensure the model performance by effectively mitigating the impact of changes in the number of particles on the feature distribution. Secondly, we develop a degeneracy detection model using residual neural networks (ResNet) and transformer which is able to identify degeneracy by scrutinizing the distribution of the particle population. Thirdly, an adaptive anti-degeneracy strategy is designed, which first performs fusion and perturbation on the resample process to provide rich and accurate initial values for the pose optimization, and use a hierarchical pose optimization combining coarse and fine matching, which is able to adaptively adjust the optimization frequency and the sensor trustworthiness according to the degree of degeneracy, in order to enhance the ability of searching the global optimal pose. Finally, we demonstrate the optimality of the model, as well as the improvement of the image matrix method and GPU on the computation time through ablation experiments, and verify the performance of the anti-degeneracy system in different scenarios through simulation experiments and real experiments. This work has been submitted to IEEE for publication. Copyright may be transferred without notice, after which this version may no longer be available.

Tabular data, which accounts for over 80% of enterprise data assets, is vital in various fields. With growing concerns about privacy protection and data-sharing restrictions, generating high-quality synthetic tabular data has become essential. Recent advancements show that large language models (LLMs) can effectively gener-ate realistic tabular data by leveraging semantic information and overcoming the challenges of high-dimensional data that arise from one-hot encoding. However, current methods do not fully utilize the rich information available in tables. To address this, we introduce AI Generative Table (AIGT) based on prompt enhancement, a novel approach that utilizes meta data information, such as table descriptions and schemas, as prompts to generate ultra-high quality synthetic data. To overcome the token limit constraints of LLMs, we propose long-token partitioning algorithms that enable AIGT to model tables of any scale. AIGT achieves state-of-the-art performance on 14 out of 20 public datasets and two real industry datasets within the Alipay risk control system.

Tabular data plays a critical role in real-world financial scenarios. Traditionally, tree models have dominated in handling tabular data. However, financial datasets in the industry often encounter some challenges, such as data heterogeneity, the predominance of numerical features and the large scale of the data, which can range from tens of millions to hundreds of millions of records. These challenges can lead to significant memory and computational issues when using tree-based models. Consequently, there is a growing need for neural network-based solutions that can outperform these models. In this paper, we introduce TKGMLP, an hybrid network for tabular data that combines shallow Kolmogorov Arnold Networks with Gated Multilayer Perceptron. This model leverages the strengths of both architectures to improve performance and scalability. We validate TKGMLP on a real-world credit scoring dataset, where it achieves state-of-the-art results and outperforms current benchmarks. Furthermore, our findings demonstrate that the model continues to improve as the dataset size increases, making it highly scalable. Additionally, we propose a novel feature encoding method for numerical data, specifically designed to address the predominance of numerical features in financial datasets. The integration of this feature encoding method within TKGMLP significantly improves prediction accuracy. This research not only advances table prediction technology but also offers a practical and effective solution for handling large-scale numerical tabular data in various industrial applications.

Walking-assistive devices require adaptive control methods to ensure smooth transitions between various modes of locomotion. For this purpose, detecting human locomotion modes (e.g., level walking or stair ascent) in advance is crucial for improving the intelligence and transparency of such robotic systems. This study proposes Deep-STF, a unified end-to-end deep learning model designed for integrated feature extraction in spatial, temporal, and frequency dimensions from surface electromyography (sEMG) signals. Our model enables accurate and robust continuous prediction of nine locomotion modes and 15 transitions at varying prediction time intervals, ranging from 100 to 500 ms. In addition, we introduced the concept of 'stable prediction time' as a distinct metric to quantify prediction efficiency. This term refers to the duration during which consistent and accurate predictions of mode transitions are made, measured from the time of the fifth correct prediction to the occurrence of the critical event leading to the task transition. This distinction between stable prediction time and prediction time is vital as it underscores our focus on the precision and reliability of mode transition predictions. Experimental results showcased Deep-STP's cutting-edge prediction performance across diverse locomotion modes and transitions, relying solely on sEMG data. When forecasting 100 ms ahead, Deep-STF surpassed CNN and other machine learning techniques, achieving an outstanding average prediction accuracy of 96.48%. Even with an extended 500 ms prediction horizon, accuracy only marginally decreased to 93.00%. The averaged stable prediction times for detecting next upcoming transitions spanned from 28.15 to 372.21 ms across the 100-500 ms time advances.

Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions before actual movement. However, the estimation performance of human joint trajectory remains a challenging problem due to the inter- and intra-subject variations. The former is related to physiological differences (such as height and weight) and preferred walking patterns of individuals, while the latter is mainly caused by irregular and gait-irrelevant muscle activity. This paper proposes a model integrating two gait cycle-inspired learning strategies to mitigate the challenge for predicting human knee joint trajectory. The first strategy is to decouple knee joint angles into motion patterns and amplitudes former exhibit low variability while latter show high variability among individuals. By learning through separate network entities, the model manages to capture both the common and personalized gait features. In the second, muscle principal activation masks are extracted from gait cycles in a prolonged walk. These masks are used to filter out components unrelated to walking from raw sEMG and provide auxiliary guidance to capture more gait-related features. Experimental results indicate that our model could predict knee angles with the average root mean square error (RMSE) of 3.03(0.49) degrees and 50ms ahead of time. To our knowledge this is the best performance in relevant literatures that has been reported, with reduced RMSE by at least 9.5%.