Parallel Lanczos bidiagonalization for total least squares filter in robot navigation
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Bibliographic record
Abstract
In the robot navigation problem, noisy sensor data must be filtered to obtain the best estimate of the robot position. The discrete Kalman filter, which usually is used for prediction and detection of signals in communication and control problems has become a commonly used method to reduce the effect of uncertainty from the sensor data. However, due to the special domain of robot navigation, the Kalman approach is very limited. The use of total least squares filter has been proposed (Boley and Sutherland, 1993) which is capable of converging with many fewer readings and achieving greater accuracy than the classical Kalman filter. The main disadvantage of those approaches is that they can not deal with the case where the noise subspace is of dimension higher than one. Here a parallel Krylov subspace method on parallel distributed memory computers which uses the Lanczos bidiagonalization process with updating techniques is proposed which is more computationally attractive to solve the total least squares problems. The parallel algorithm is derived such that all inner products of a single iteration step are independent. Therefore, the cost of global communication which represents the bottleneck of the parallel performance on parallel distributed memory computers can be significantly reduced. This filter is very promising for very large data information and from our very preliminary experiments we can obtain more precise accuracy and better speedup.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it