We respond to each comment one by one. We mention this in Line 148; however, we will make it clear in the final draft. Conversely, SSL algorithms use the unlabeled data but they do not consider the class imbalance. We will make this point clear in the final draft. However, to avoid the confusion, we will substitute X,Y to α,β in the final draft.

As an adaptive method, Shampoo employs a structured second-moment estimation, and its effectiveness has attracted growing attention. Prior work has primarily analyzed its estimation scheme through the Frobenius norm. Motivated by the natural connection between the second moment and a covariance matrix, we propose studying Shampoo's estimation as covariance estimation through the lens of Kullback-Leibler (KL) minimization. This alternative perspective reveals a previously hidden limitation, motivating improvements to Shampoo's design. Building on this insight, we develop a practical estimation scheme, termed KL-Shampoo, that eliminates Shampoo's reliance on Adam for stabilization, thereby removing the additional memory overhead introduced by Adam. Preliminary results show that KL-Shampoo improves Shampoo's performance, enabling it to stabilize without Adam and even outperform its Adam-stabilized variant, SOAP, in neural network pretraining.

We respond to each comment one by one. We mention this in Line 148; however, we will make it clear in the final draft. Conversely, SSL algorithms use the unlabeled data but they do not consider the class imbalance. We will make this point clear in the final draft. However, to avoid the confusion, we will substitute X,Y to α,β in the final draft.

Vehicular communication systems face significant challenges due to high mobility and rapidly changing environments, which affect the channel over which the signals travel. To address these challenges, neural network (NN)-based channel estimation methods have been suggested. These methods are primarily trained on high signal-to-noise ratio (SNR) with the assumption that training a NN in less noisy conditions can result in good generalisation. This study examines the effectiveness of training NN-based channel estimators on mixed SNR datasets compared to training solely on high SNR datasets, as seen in several related works. Estimators evaluated in this work include an architecture that uses convolutional layers and self-attention mechanisms; a method that employs temporal convolutional networks and data pilot-aided estimation; two methods that combine classical methods with multilayer perceptrons; and the current state-of-the-art model that combines Long-Short-Term Memory networks with data pilot-aided and temporal averaging methods as post processing. Our results indicate that using only high SNR data for training is not always optimal, and the SNR range in the training dataset should be treated as a hyperparameter that can be adjusted for better performance. This is illustrated by the better performance of some models in low SNR conditions when trained on the mixed SNR dataset, as opposed to when trained exclusively on high SNR data.

This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose a globally exponentially stable (GES) linear time-varying (LTV) observer for the estimation of body-frame landmark positions and velocity, using IMU and monocular bearing measurements. Thereafter, using the gyro measurements, some landmarks known in the inertial frame and the estimates from the LTV observer, we propose a nonlinear pose observer on $\SO(3)\times \mathbb{R}^3$. The overall estimation system is shown to be almost globally asymptotically stable (AGAS) using the notion of almost global input-to-state stability (ISS). Interestingly, we show that with the knowledge (in the inertial frame) of a small number of landmarks, we can recover (under some conditions) the unknown positions (in the inertial frame) of a large number of landmarks. Numerical simulation results are presented to illustrate the performance of the proposed estimation scheme.

We propose policy gradient algorithms for solving a risk-sensitive reinforcement learning (RL) problem in on-policy as well as off-policy settings. We consider episodic Markov decision processes, and model the risk using the broad class of smooth risk measures of the cumulative discounted reward. We propose two template policy gradient algorithms that optimize a smooth risk measure in on-policy and off-policy RL settings, respectively. We derive non-asymptotic bounds that quantify the rate of convergence of our proposed algorithms to a stationary point of the smooth risk measure. As special cases, we establish that our algorithms apply to optimization of mean-variance and distortion risk measures, respectively.

Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only, which greatly limited the performance of the dressing assistance. In fact, healthcare professionals perform the task bimanually. Inspired by them, we propose a bimanual cooperative scheme for robotic dressing assistance. In the scheme, an interactive robot joins hands with the human thus supporting/guiding the human in the dressing process, while the dressing robot performs the dressing task. We identify a key feature that affects the dressing action and propose an optimal strategy for the interactive robot using the feature. A dressing coordinate based on the posture of the arm is defined to better encode the dressing policy. We validate the interactive dressing scheme with extensive experiments and also an ablation study. The experiment video is available on https://sites.google.com/view/bimanualassitdressing/home

The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of accurate estimation algorithms is of major importance in the development of advanced control schemes. The focus of this paper is on the estimation problem. In particular, a novel estimation algorithm is proposed, based on a multi-layer neural network. The training is based on a synthetic data set, derived from a widely used friction model. The open loop performances of the proposed algorithm are evaluated in a number of simulated scenarios. Moreover, different control schemes are used to test the closed loop scenario, where the estimated optimal slip is used as the set-point. The experimental results and the comparison with a model based baseline show that the proposed approach can provide an effective best slip estimation.

In this study, we investigated a convolutional neural network (CNN)-based framework for the estimation of the best-corrected visual acuity (BCVA) from fundus images. First, we collected 53,318 fundus photographs from the Gyeongsang National University Changwon Hospital, where each fundus photograph is categorized into 11 levels by retrospective medical chart review. Then, we designed 4 BCVA estimation schemes using transfer learning with pre-trained ResNet-18 and EfficientNet-B0 models where both regression and classification-based prediction are taken into account. According to the results of the study, the predicted BCVA by CNN-based schemes is close to the actual value such that 94.37% of prediction accuracy can be achieved when 3 levels of difference can be tolerated during prediction. The mean squared error and $$R^2$$ score were measured as 0.028 and 0.654, respectively. These results indicate that the BCVA can be predicted accurately for extreme cases, i.e., the level of BCVA is close to either 0.0 or 1.0. Moreover, using the Guided Grad-CAM, we confirmed that the macula and the blood vessel surrounding the macula are mainly utilized in the prediction of BCVA, which validates the rationality of the CNN-based BCVA estimation schemes since the same area is also exploited during the retrospective medical chart review. Finally, we applied the t-distributed stochastic neighbor embedding to examine the characteristics of CNN-based BCVA estimation schemes. The developed BCVA estimation schemes can be employed to obtain the objective measurement of BVCA as well as the medical screening of people with poor access to medical care through smartphone-based fundus imaging.

In several financial applications, it is necessary to understand risk sensitivity while maximizing the returns. Several risk measures have been studied in the literature, e.g., mean-variance, Value at Risk (VaR), Conditional Value at Risk (CVaR), distorted risk measure, and prospect theory. In [2], the authors consider four properties as desirable for a risk measure, namely positive homogeneity, translation invariance, sub-additivity, and monotonicity. They define a risk measure as being coherent if it possesses the aforementioned properties. In a related development, in[19], the authors chose to relax the sub-additivity and positive homogeneity requirements of a coherent risk measure, and instead impose a convexity condition on the underlying risk measure.