Dependency networks (DNs) are graphical models, similar to Markov networks, wherein each vertex (node) corresponds to a random variable and each edge captures dependencies among variables. Unlike Bayesian networks, DNs may contain cycles. Each node is associated to a conditional probability table, which determines the realization of the random variable given its parents. == Markov blanket == In a Bayesian network, the Markov blanket of a node is the set of parents and children of that node, together with the children's parents. The values of the parents and children of a node evidently give information about that node. However, its children's parents also have to be included in the Markov blanket, because they can be used to explain away the node in question. In a Markov random field, the Markov blanket for a node is simply its adjacent (or neighboring) nodes. In a dependency network, the Markov blanket for a node is simply the set of its parents. == Dependency network versus Bayesian networks == Dependency networks have advantages and disadvantages with respect to Bayesian networks. In particular, they are easier to parameterize from data, as there are efficient algorithms for learning both the structure and probabilities of a dependency network from data. Such algorithms are not available for Bayesian networks, for which the problem of determining the optimal structure is NP-hard. Nonetheless, a dependency network may be more difficult to construct using a knowledge-based approach driven by expert-knowledge. == Dependency networks versus Markov networks == Consistent dependency networks and Markov networks have the same representational power. Nonetheless, it is possible to construct non-consistent dependency networks, i.e., dependency networks for which there is no compatible valid joint probability distribution. Markov networks, in contrast, are always consistent. == Definition == A consistent dependency network for a set of random variables X = ( X 1 , … , X n ) {\textstyle \mathbf {X} =(X_{1},\ldots ,X_{n})} with joint distribution p ( x ) {\displaystyle p(\mathbf {x} )} is a pair ( G , P ) {\displaystyle (G,P)} where G {\displaystyle G} is a cyclic directed graph, where each of its nodes corresponds to a variable in X {\displaystyle \mathbf {X} } , and P {\displaystyle P} is a set of conditional probability distributions. The parents of node X i {\displaystyle X_{i}} , denoted P a i {\displaystyle \mathbf {Pa_{i}} } , correspond to those variables P a i ⊆ ( X 1 , … , X i − 1 , X i + 1 , … , X n ) {\displaystyle \mathbf {Pa_{i}} \subseteq (X_{1},\ldots ,X_{i-1},X_{i+1},\ldots ,X_{n})} that satisfy the following independence relationships p ( x i ∣ p a i ) = p ( x i ∣ x 1 , … , x i − 1 , x i + 1 , … , x n ) = p ( x i ∣ x − x i ) . {\displaystyle p(x_{i}\mid \mathbf {pa_{i}} )=p(x_{i}\mid x_{1},\ldots ,x_{i-1},x_{i+1},\ldots ,x_{n})=p(x_{i}\mid \mathbf {x} -{x_{i}}).} The dependency network is consistent in the sense that each local distribution can be obtained from the joint distribution p ( x ) {\displaystyle p(\mathbf {x} )} . Dependency networks learned using large data sets with large sample sizes will almost always be consistent. A non-consistent network is a network for which there is no joint probability distribution compatible with the pair ( G , P ) {\displaystyle (G,P)} . In that case, there is no joint probability distribution that satisfies the independence relationships subsumed by that pair. == Structure and parameters learning == Two important tasks in a dependency network are to learn its structure and probabilities from data. Essentially, the learning algorithm consists of independently performing a probabilistic regression or classification for each variable in the domain. It comes from observation that the local distribution for variable X i {\displaystyle X_{i}} in a dependency network is the conditional distribution p ( x i | x − x i ) {\displaystyle p(x_{i}|\mathbf {x} -{x_{i}})} , which can be estimated by any number of classification or regression techniques, such as methods using a probabilistic decision tree, a neural network or a probabilistic support-vector machine. Hence, for each variable X i {\displaystyle X_{i}} in domain X {\displaystyle X} , we independently estimate its local distribution from data using a classification algorithm, even though it is a distinct method for each variable. Here, we will briefly show how probabilistic decision trees are used to estimate the local distributions. For each variable X i {\displaystyle X_{i}} in X {\displaystyle \mathbf {X} } , a probabilistic decision tree is learned where X i {\displaystyle X_{i}} is the target variable and X − X i {\displaystyle \mathbf {X} -X_{i}} are the input variables. To learn a decision tree structure for X i {\displaystyle X_{i}} , the search algorithm begins with a singleton root node without children. Then, each leaf node in the tree is replaced with a binary split on some variable X j {\displaystyle X_{j}} in X − X i {\displaystyle \mathbf {X} -X_{i}} , until no more replacements increase the score of the tree. == Probabilistic Inference == A probabilistic inference is the task in which we wish to answer probabilistic queries of the form p ( y ∣ z ) {\displaystyle p(\mathbf {y\mid z} )} , given a graphical model for X {\displaystyle \mathbf {X} } , where Y {\displaystyle \mathbf {Y} } (the 'target' variables) Z {\displaystyle \mathbf {Z} } (the 'input' variables) are disjoint subsets of X {\displaystyle \mathbf {X} } . One of the alternatives for performing probabilistic inference is using Gibbs sampling. A naive approach for this uses an ordered Gibbs sampler, an important difficulty of which is that if either p ( y ∣ z ) {\displaystyle p(\mathbf {y\mid z} )} or p ( z ) {\displaystyle p(\mathbf {z} )} is small, then many iterations are required for an accurate probability estimate. Another approach for estimating p ( y ∣ z ) {\displaystyle p(\mathbf {y\mid z} )} when p ( z ) {\displaystyle p(\mathbf {z} )} is small is to use modified ordered Gibbs sampler, where Z = z {\displaystyle \mathbf {Z=z} } is fixed during Gibbs sampling. It may also happen that y {\displaystyle \mathbf {y} } is rare, e.g. when Y {\displaystyle \mathbf {Y} } has many variables. So, the law of total probability along with the independencies encoded in a dependency network can be used to decompose the inference task into a set of inference tasks on single variables. This approach comes with the advantage that some terms may be obtained by direct lookup, thereby avoiding some Gibbs sampling. You can see below an algorithm that can be used for obtain p ( y | z ) {\displaystyle p(\mathbf {y|z} )} for a particular instance of y ∈ Y {\displaystyle \mathbf {y} \in \mathbf {Y} } and z ∈ Z {\displaystyle \mathbf {z} \in \mathbf {Z} } , where Y {\displaystyle \mathbf {Y} } and Z {\displaystyle \mathbf {Z} } are disjoint subsets. Algorithm 1: U := Y {\displaystyle \mathbf {U:=Y} } ( the unprocessed variables ) P := Z {\displaystyle \mathbf {P:=Z} } ( the processed and conditioning variables ) p := z {\displaystyle \mathbf {p:=z} } ( the values for P {\displaystyle \mathbf {P} } ) While U ≠ ∅ {\displaystyle \mathbf {U} \neq \emptyset } : Choose X i ∈ U {\displaystyle X_{i}\in \mathbf {U} } such that X i {\displaystyle X_{i}} has no more parents in U {\displaystyle U} than any variable in U {\displaystyle U} If all the parents of X {\displaystyle X} are in P {\displaystyle \mathbf {P} } p ( x i | p ) := p ( x i | p a i ) {\displaystyle p(x_{i}|\mathbf {p} ):=p(x_{i}|\mathbf {pa_{i}} )} Else Use a modified ordered Gibbs sampler to determine p ( x i | p ) {\displaystyle p(x_{i}|\mathbf {p} )} U := U − X i {\displaystyle \mathbf {U:=U} -X_{i}} P := P + X i {\displaystyle \mathbf {P:=P} +X_{i}} p := p + x i {\displaystyle \mathbf {p:=p} +x_{i}} Returns the product of the conditionals p ( x i | p ) {\displaystyle p(x_{i}|\mathbf {p} )} == Applications == In addition to the applications to probabilistic inference, the following applications are in the category of Collaborative Filtering (CF), which is the task of predicting preferences. Dependency networks are a natural model class on which to base CF predictions, once an algorithm for this task only needs estimation of p ( x i = 1 | x − x i = 0 ) {\displaystyle p(x_{i}=1|\mathbf {x} -{x_{i}}=0)} to produce recommendations. In particular, these estimates may be obtained by a direct lookup in a dependency network. Predicting what movies a person will like based on his or her ratings of movies seen; Predicting what web pages a person will access based on his or her history on the site; Predicting what news stories a person is interested in based on other stories he or she read; Predicting what product a person will buy based on products he or she has already purchased and/or dropped into his or her shopping basket. Another class of useful applications for dependency networks is related to data visualization, that is
1.58-bit large language model
A 1.58-bit large language model (also known as a ternary LLM) is a type of large language model (LLM) designed to be computationally efficient. It achieves this by using weights that are restricted to only three values: -1, 0, and +1. This restriction significantly reduces the model's memory footprint and allows for faster processing, as computationally expensive multiplication operations can be replaced with lower-cost additions. This contrasts with traditional models that use 16-bit floating-point numbers (FP16 or BF16) for their weights. Studies have shown that for models up to several billion parameters, the performance of 1.58-bit LLMs on various tasks is comparable to their full-precision counterparts. This approach could enable powerful AI to run on less specialized and lower-power hardware. The name "1.58-bit" comes from the fact that a system with three states contains log 2 3 ≈ 1.58 {\displaystyle \log _{2}3\approx 1.58} bits of information. These models are sometimes also referred to as 1-bit LLMs in research papers, although this term can also refer to true binary models (with weights of -1 and +1). == BitNet == In 2024, Ma et al., researchers at Microsoft, declared that their 1.58-bit model, BitNet b1.58 is comparable in performance to the 16-bit Llama 2 and opens the era of 1-bit LLM. BitNet creators did not use the post-training quantization of weights but instead relied on the new BitLinear transform that replaced the nn.Linear layer of the traditional transformer design. In 2025, Microsoft researchers had released an open-weights and open inference code model BitNet b1.58 2B4T demonstrating performance competitive with the full precision models at 2B parameters and 4T training tokens. == Post-training quantization == BitNet derives its performance from being trained natively in 1.58 bit instead of being quantized from a full-precision model after training. Still, training is an expensive process and it would be desirable to be able to somehow convert an existing model to 1.58 bits. In 2024, HuggingFace reported a way to gradually ramp up the 1.58-bit quantization in fine-tuning an existing model down to 1.58 bits. == Critique == Some researchers point out that the scaling laws of large language models favor the low-bit weights only in case of undertrained models. As the number of training tokens increases, the deficiencies of low-bit quantization surface.
Multi expression programming
Multi Expression Programming (MEP) is an evolutionary algorithm for generating mathematical functions describing a given set of data. MEP is a Genetic Programming variant encoding multiple solutions in the same chromosome. MEP representation is not specific (multiple representations have been tested). In the simplest variant, MEP chromosomes are linear strings of instructions. This representation was inspired by Three-address code. MEP strength consists in the ability to encode multiple solutions, of a problem, in the same chromosome. In this way, one can explore larger zones of the search space. For most of the problems this advantage comes with no running-time penalty compared with genetic programming variants encoding a single solution in a chromosome. == Representation == MEP chromosomes are arrays of instructions represented in Three-address code format. Each instruction contains a variable, a constant, or a function. If the instruction is a function, then the arguments (given as instruction's addresses) are also present. === Example of MEP program === Here is a simple MEP chromosome (labels on the left side are not a part of the chromosome): 1: a 2: b 3: + 1, 2 4: c 5: d 6: + 4, 5 7: 3, 5 == Fitness computation == When the chromosome is evaluated it is unclear which instruction will provide the output of the program. In many cases, a set of programs is obtained, some of them being completely unrelated (they do not have common instructions). For the above chromosome, here is the list of possible programs obtained during decoding: E1 = a, E2 = b, E4 = c, E5 = d, E3 = a + b. E6 = c + d. E7 = (a + b) d. Each instruction is evaluated as a possible output of the program. The fitness (or error) is computed in a standard manner. For instance, in the case of symbolic regression, the fitness is the sum of differences (in absolute value) between the expected output (called target) and the actual output. == Fitness assignment process == Which expression will represent the chromosome? Which one will give the fitness of the chromosome? In MEP, the best of them (which has the lowest error) will represent the chromosome. This is different from other GP techniques: In Linear genetic programming the last instruction will give the output. In Cartesian Genetic Programming the gene providing the output is evolved like all other genes. Note that, for many problems, this evaluation has the same complexity as in the case of encoding a single solution in each chromosome. Thus, there is no penalty in running time compared to other techniques. == Software == === MEPX === MEPX is a cross-platform (Windows, macOS, and Linux Ubuntu) free software for the automatic generation of computer programs. It can be used for data analysis, particularly for solving symbolic regression, statistical classification and time-series problems. === libmep === Libmep is a free and open source library implementing Multi Expression Programming technique. It is written in C++. === hmep === hmep is a new open source library implementing Multi Expression Programming technique in Haskell programming language.
Cultural algorithm
Cultural algorithms (CA) are a branch of evolutionary computation where there is a knowledge component that is called the belief space in addition to the population component. In this sense, cultural algorithms can be seen as an extension to a conventional genetic algorithm. Cultural algorithms were introduced by Reynolds (see references). == Belief space == The belief space of a cultural algorithm is divided into distinct categories. These categories represent different domains of knowledge that the population has of the search space. The belief space is updated after each iteration by the best individuals of the population. The best individuals can be selected using a fitness function that assesses the performance of each individual in population much like in genetic algorithms. === List of belief space categories === Normative knowledge A collection of desirable value ranges for the individuals in the population component e.g. acceptable behavior for the agents in population. Domain specific knowledge Information about the domain of the cultural algorithm problem is applied to. Situational knowledge Specific examples of important events - e.g. successful/unsuccessful solutions Temporal knowledge History of the search space - e.g. the temporal patterns of the search process Spatial knowledge Information about the topography of the search space == Population == The population component of the cultural algorithm is approximately the same as that of the genetic algorithm. == Communication protocol == Cultural algorithms require an interface between the population and belief space. The best individuals of the population can update the belief space via the update function. Also, the knowledge categories of the belief space can affect the population component via the influence function. The influence function can affect population by altering the genome or the actions of the individuals. == Pseudocode for cultural algorithms == Initialize population space (choose initial population) Initialize belief space (e.g. set domain specific knowledge and normative value-ranges) Repeat until termination condition is met Perform actions of the individuals in population space Evaluate each individual by using the fitness function Select the parents to reproduce a new generation of offspring Let the belief space alter the genome of the offspring by using the influence function Update the belief space by using the accept function (this is done by letting the best individuals to affect the belief space) == Applications == Various optimization problems Social simulation Real-parameter optimization
Blockmodeling
Blockmodeling is a set or a coherent framework, that is used for analyzing social structure and also for setting procedure(s) for partitioning (clustering) social network's units (nodes, vertices, actors), based on specific patterns, which form a distinctive structure through interconnectivity. It is primarily used in statistics, machine learning and network science. As an empirical procedure, blockmodeling assumes that all the units in a specific network can be grouped together to such extent to which they are equivalent. Regarding equivalency, it can be structural, regular or generalized. Using blockmodeling, a network can be analyzed using newly created blockmodels, which transforms large and complex network into a smaller and more comprehensible one. At the same time, the blockmodeling is used to operationalize social roles. While some contend that the blockmodeling is just clustering methods, Bonacich and McConaghy state that "it is a theoretically grounded and algebraic approach to the analysis of the structure of relations". Blockmodeling's unique ability lies in the fact that it considers the structure not just as a set of direct relations, but also takes into account all other possible compound relations that are based on the direct ones. The principles of blockmodeling were first introduced by Francois Lorrain and Harrison C. White in 1971. Blockmodeling is considered as "an important set of network analytic tools" as it deals with delineation of role structures (the well-defined places in social structures, also known as positions) and the discerning the fundamental structure of social networks. According to Batagelj, the primary "goal of blockmodeling is to reduce a large, potentially incoherent network to a smaller comprehensible structure that can be interpreted more readily". Blockmodeling was at first used for analysis in sociometry and psychometrics, but has now spread also to other sciences. == Definition == A network as a system is composed of (or defined by) two different sets: one set of units (nodes, vertices, actors) and one set of links between the units. Using both sets, it is possible to create a graph, describing the structure of the network. During blockmodeling, the researcher is faced with two problems: how to partition the units (e.g., how to determine the clusters (or classes), that then form vertices in a blockmodel) and then how to determine the links in the blockmodel (and at the same time the values of these links). In the social sciences, the networks are usually social networks, composed of several individuals (units) and selected social relationships among them (links). Real-world networks can be large and complex; blockmodeling is used to simplify them into smaller structures that can be easier to interpret. Specifically, blockmodeling partitions the units into clusters and then determines the ties among the clusters. At the same time, blockmodeling can be used to explain the social roles existing in the network, as it is assumed that the created cluster of units mimics (or is closely associated with) the units' social roles. Blockmodeling can thus be defined as a set of approaches for partitioning units into clusters (also known as positions) and links into blocks, which are further defined by the newly obtained clusters. A block (also blockmodel) is defined as a submatrix, that shows interconnectivity (links) between nodes, present in the same or different clusters. Each of these positions in the cluster is defined by a set of (in)direct ties to and from other social positions. These links (connections) can be directed or undirected; there can be multiple links between the same pair of objects or they can have weights on them. If there are not any multiple links in a network, it is called a simple network. A matrix representation of a graph is composed of ordered units, in rows and columns, based on their names. The ordered units with similar patterns of links are partitioned together in the same clusters. Clusters are then arranged together so that units from the same clusters are placed next to each other, thus preserving interconnectivity. In the next step, the units (from the same clusters) are transformed into a blockmodel. With this, several blockmodels are usually formed, one being core cluster and others being cohesive; a core cluster is always connected to cohesive ones, while cohesive ones cannot be linked together. Clustering of nodes is based on the equivalence, such as structural and regular. The primary objective of the matrix form is to visually present relations between the persons included in the cluster. These ties are coded dichotomously (as present or absent), and the rows in the matrix form indicate the source of the ties, while the columns represent the destination of the ties. Equivalence can have two basic approaches: the equivalent units have the same connection pattern to the same neighbors or these units have same or similar connection pattern to different neighbors. If the units are connected to the rest of network in identical ways, then they are structurally equivalent. Units can also be regularly equivalent, when they are equivalently connected to equivalent others. With blockmodeling, it is necessary to consider the issue of results being affected by measurement errors in the initial stage of acquiring the data. == Different approaches == Regarding what kind of network is undergoing blockmodeling, a different approach is necessary. Networks can be one–mode or two–mode. In the former all units can be connected to any other unit and where units are of the same type, while in the latter the units are connected only to the unit(s) of a different type. Regarding relationships between units, they can be single–relational or multi–relational networks. Further more, the networks can be temporal or multilevel and also binary (only 0 and 1) or signed (allowing negative ties)/values (other values are possible) networks. Different approaches to blockmodeling can be grouped into two main classes: deterministic blockmodeling and stochastic blockmodeling approaches. Deterministic blockmodeling is then further divided into direct and indirect blockmodeling approaches. Among direct blockmodeling approaches are: structural equivalence and regular equivalence. Structural equivalence is a state, when units are connected to the rest of the network in an identical way(s), while regular equivalence occurs when units are equally related to equivalent others (units are not necessarily sharing neighbors, but have neighbour that are themselves similar). Indirect blockmodeling approaches, where partitioning is dealt with as a traditional cluster analysis problem (measuring (dis)similarity results in a (dis)similarity matrix), are: conventional blockmodeling, generalized blockmodeling: generalized blockmodeling of binary networks, generalized blockmodeling of valued networks and generalized homogeneity blockmodeling, prespecified blockmodeling. According to Brusco and Steinley (2011), the blockmodeling can be categorized (using a number of dimensions): deterministic or stochastic blockmodeling, one–mode or two–mode networks, signed or unsigned networks, exploratory or confirmatory blockmodeling. == Blockmodels == Blockmodels (sometimes also block models) are structures in which: vertices (e.g., units, nodes) are assembled within a cluster, with each cluster identified as a vertex; from such vertices a graph can be constructed; combinations of all the links (ties), represented in a block as a single link between positions, while at the same time constructing one tie for each block. In a case, when there are no ties in a block, there will be no ties between the two positions that define the block. Computer programs can partition the social network according to pre-set conditions. When empirical blocks can be reasonably approximated in terms of ideal blocks, such blockmodels can be reduced to a blockimage, which is a representation of the original network, capturing its underlying 'functional anatomy'. Thus, blockmodels can "permit the data to characterize their own structure", and at the same time not seek to manifest a preconceived structure imposed by the researcher. Blockmodels can be created indirectly or directly, based on the construction of the criterion function. Indirect construction refers to a function, based on "compatible (dis)similarity measure between paris of units", while the direct construction is "a function measuring the fit of real blocks induced by a given clustering to the corresponding ideal blocks with perfect relations within each cluster and between clusters according to the considered types of connections (equivalence)". === Types === Blockmodels can be specified regarding the intuition, substance or the insight into the nature of the studied network; this can result in such models as follows: parent-child role systems, organizational hierarchies, systems of
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.
FERET database
The Facial Recognition Technology (FERET) database is a dataset used for facial recognition system evaluation as part of the Face Recognition Technology (FERET) program. It was first established in 1993 under a collaborative effort between Harry Wechsler at George Mason University and Jonathon Phillips at the Army Research Laboratory in Adelphi, Maryland. The FERET database serves as a standard database of facial images for researchers to use to develop various algorithms and report results. The use of a common database also allowed one to compare the effectiveness of different approaches in methodology and gauge their strengths and weaknesses. The facial images for the database were collected between December 1993 and August 1996, accumulating a total of 14,126 images pertaining to 1,199 individuals along with 365 duplicate sets of images that were taken on a different day. In 2003, the Defense Advanced Research Projects Agency (DARPA) released a high-resolution, 24-bit color version of these images. The dataset tested includes 2,413 still facial images, representing 856 individuals. The FERET database has been used by more than 460 research groups and is managed by the National Institute of Standards and Technology (NIST).