Papers made digestable
Our architecture simplifies the obstacle-perception
problem to that of place-dependent change detection. While we use the method with VT&R, it
can be generalized to suit arbitrary path-following applications.
Visual Teach and Repeat 3 (VT&R3), a generalization of stereo VT&R, achieves
long-term autonomous path-following using topometric mapping and localization
from a single rich sensor stream. In this paper, we improve the capabilities of
a LiDAR implementation of VT&R3 to reliably detect and avoid obstacles in
changing environments. Our architecture simplifies the obstacle-perception
problem to that of place-dependent change detection. We then extend the
behaviour of generic sample-based motion planners to better suit the
teach-and-repeat problem structure by introducing a new edge-cost metric paired
with a curvilinear planning space. The resulting planner generates naturally
smooth paths that avoid local obstacles while minimizing lateral path deviation
to best exploit prior terrain knowledge. While we use the method with VT&R, it
can be generalized to suit arbitrary path-following applications. Experimental
results from online run-time analysis, unit testing, and qualitative
experiments on a differential drive robot show the promise of the technique for
reliable long-term autonomous operation in complex unstructured environments.
Authors: Jordy Sehn, Yuchen Wu, Timothy D. Barfoot.
The statistical and design considerations that pertain to
dose optimization are discussed. The sample size savings range from 16.6% to 27.3%,
depending on the design and scenario, with a mean savings of 22.1%.
The traditional more-is-better dose selection paradigm, developed based on
cytotoxic chemotherapeutics, is often problematic When applied to the
development of novel molecularly targeted agents (e.g., kinase inhibitors,
monoclonal antibodies, and antibody-drug conjugates). The US Food and Drug
Administration (FDA) initiated Project Optimus to reform the dose optimization
and dose selection paradigm in oncology drug development and call for more
attention to benefit-risk consideration.
We systematically investigated the operating characteristics of the seamless
phase 2-3 design as a strategy for dose optimization, where in stage 1
(corresponding to phase 2) patients are randomized to multiple doses, with or
without a control; and in stage 2 (corresponding to phase 3) the efficacy of
the selected optimal dose is evaluated with a randomized concurrent control or
historical control. Depending on whether the concurrent control is included and
the type of endpoints used in stages 1 and 2, we describe four types of
seamless phase 2-3 dose-optimization designs, which are suitable for different
clinical settings. The statistical and design considerations that pertain to
dose optimization are discussed. Simulation shows that dose optimization phase
2-3 designs are able to control the familywise type I error rates and yield
appropriate statistical power with substantially smaller sample size than the
conventional approach. The sample size savings range from 16.6% to 27.3%,
depending on the design and scenario, with a mean savings of 22.1%. Due to the
interim dose selection, the phase 2-3 dose-optimization design is logistically
and operationally more challenging, and should be carefully planned and
implemented to ensure trial integrity.
Authors: Liyun Jiang, Ying Yuan.
We significantly improve performance using properties of the posterior
in our active learning scheme and for the definition of the GP prior. In
particular we account for the expected dynamical range of the posterior in
different dimensionalities. We test our model against a number of synthetic and
cosmological examples.
We present the GPry algorithm for fast Bayesian inference of general
(non-Gaussian) posteriors with a moderate number of parameters. GPry does not
need any pre-training, special hardware such as GPUs, and is intended as a
drop-in replacement for traditional Monte Carlo methods for Bayesian inference.
Our algorithm is based on generating a Gaussian Process surrogate model of the
log-posterior, aided by a Support Vector Machine classifier that excludes
extreme or non-finite values. An active learning scheme allows us to reduce the
number of required posterior evaluations by two orders of magnitude compared to
traditional Monte Carlo inference. Our algorithm allows for parallel
evaluations of the posterior at optimal locations, further reducing wall-clock
times. We significantly improve performance using properties of the posterior
in our active learning scheme and for the definition of the GP prior. In
particular we account for the expected dynamical range of the posterior in
different dimensionalities. We test our model against a number of synthetic and
cosmological examples. GPry outperforms traditional Monte Carlo methods when
the evaluation time of the likelihood (or the calculation of theoretical
observables) is of the order of seconds; for evaluation times of over a minute
it can perform inference in days that would take months using traditional
methods. GPry is distributed as an open source Python package (pip install
gpry) and can also be found at https://github.com/jonaselgammal/GPry.
Authors: Jonas El Gammal, Nils Schöneberg, Jesús Torrado, Christian Fidler.
We consider the fundamental scheduling problem of minimizing the sum of
weighted completion times on a single machine in the non-clairvoyant setting. However, to the best of our knowledge, this concept has never been considered
for the total completion time objective in the non-clairvoyant model. This implies
a performance guarantee of $(1+3\sqrt{3})\approx 6.197$ for the deterministic
algorithm and of $\approx 3.032$ for the randomized version.
We consider the fundamental scheduling problem of minimizing the sum of
weighted completion times on a single machine in the non-clairvoyant setting.
While no non-preemptive algorithm is constant competitive, Motwani, Phillips,
and Torng (SODA '93) proved that the simple preemptive round robin procedure is
$2$-competitive and that no better competitive ratio is possible, initiating a
long line of research focused on preemptive algorithms for generalized variants
of the problem. As an alternative model, Shmoys, Wein, and Williamson (FOCS
'91) introduced kill-and-restart schedules, where running jobs may be killed
and restarted from scratch later, and analyzed then for the makespan objective.
However, to the best of our knowledge, this concept has never been considered
for the total completion time objective in the non-clairvoyant model.
We contribute to both models: First we give for any $b > 1$ a tight analysis
for the natural $b$-scaling kill-and-restart strategy for scheduling jobs
without release dates, as well as for a randomized variant of it. This implies
a performance guarantee of $(1+3\sqrt{3})\approx 6.197$ for the deterministic
algorithm and of $\approx 3.032$ for the randomized version. Second, we show
that the preemptive Weighted Shortest Elapsed Time First (WSETF) rule is
$2$-competitive for jobs released in an online fashion over time, matching the
lower bound by Motwani et al. Using this result as well as the competitiveness
of round robin for multiple machines, we prove performance guarantees of
adaptions of the $b$-scaling algorithm to online release dates and unweighted
jobs on identical parallel machines.
Authors: Sven Jäger, Guillaume Sagnol, Daniel Schmidt genannt Waldschmidt, Philipp Warode.
Frozen pretrained models have become a viable alternative to the
pretraining-then-finetuning paradigm for transfer learning. With this work, we hope to
bring greater attention to this promising path of freezing pretrained image
models.
Frozen pretrained models have become a viable alternative to the
pretraining-then-finetuning paradigm for transfer learning. However, with
frozen models there are relatively few parameters available for adapting to
downstream tasks, which is problematic in computer vision where tasks vary
significantly in input/output format and the type of information that is of
value. In this paper, we present a study of frozen pretrained models when
applied to diverse and representative computer vision tasks, including object
detection, semantic segmentation and video action recognition. From this
empirical analysis, our work answers the questions of what pretraining task
fits best with this frozen setting, how to make the frozen setting more
flexible to various downstream tasks, and the effect of larger model sizes. We
additionally examine the upper bound of performance using a giant frozen
pretrained model with 3 billion parameters (SwinV2-G) and find that it reaches
competitive performance on a varied set of major benchmarks with only one
shared frozen base network: 60.0 box mAP and 52.2 mask mAP on COCO object
detection test-dev, 57.6 val mIoU on ADE20K semantic segmentation, and 81.7
top-1 accuracy on Kinetics-400 action recognition. With this work, we hope to
bring greater attention to this promising path of freezing pretrained image
models.
Authors: Yutong Lin, Ze Liu, Zheng Zhang, Han Hu, Nanning Zheng, Stephen Lin, Yue Cao.
Therefore, in practice it
would be beneficial to select the classification method based on the appearance
of the particular US image. Our preliminary results demonstrate that meta-learning
techniques can be used to improve the performance of the standard classifiers
based on handcrafted features. With the proposed meta-learning based approach,
we achieved the area under the receiver operating characteristic curve of 0.95
and accuracy of 0.91.
Standard classification methods based on handcrafted morphological and
texture features have achieved good performance in breast mass differentiation
in ultrasound (US). In comparison to deep neural networks, commonly perceived
as "black-box" models, classical techniques are based on features that have
well-understood medical and physical interpretation. However, classifiers based
on morphological features commonly underperform in the presence of the
shadowing artifact and ill-defined mass borders, while texture based
classifiers may fail when the US image is too noisy. Therefore, in practice it
would be beneficial to select the classification method based on the appearance
of the particular US image. In this work, we develop a deep meta-network that
can automatically process input breast mass US images and recommend whether to
apply the shape or texture based classifier for the breast mass
differentiation. Our preliminary results demonstrate that meta-learning
techniques can be used to improve the performance of the standard classifiers
based on handcrafted features. With the proposed meta-learning based approach,
we achieved the area under the receiver operating characteristic curve of 0.95
and accuracy of 0.91.
Authors: Michal Byra, Piotr Karwat, Ivan Ryzhankow, Piotr Komorowski, Ziemowit Klimonda, Lukasz Fura, Anna Pawlowska, Norbert Zolek, Jerzy Litniewski.
It solves the gas-dust hydrodynamics in a spherical geometry and the coagulation/fragmentation equation. It also computes the ionization state of the cloud and the Ohmic, ambipolar and Hall resistivities. At high density, we find that the coagulated distribution is unaffected by the initial choice of dust distribution. It is also found to be negligible for icy grains. When fragmentation occurs, it strongly affects the magnetic resistivities profiles. The onset and feedback of fragmentation remains uncertain and its modeling should be further investigated.
We model the coagulation and fragmentation of dust grains during the
protostellar collapse with our newly developed shark code. It solves the
gas-dust hydrodynamics in a spherical geometry and the
coagulation/fragmentation equation. It also computes the ionization state of
the cloud and the Ohmic, ambipolar and Hall resistivities. We find that the
dust size distribution evolves significantly during the collapse, large grain
formation being controlled by the turbulent differential velocity. When
turbulence is included, only ambipolar diffusion remains efficient at removing
the small grains from the distribution, brownian motion is only efficient as a
standalone process. The macroscopic gas-dust drift is negligible for grain
growth and only dynamically significant near the first Larson core. At high
density, we find that the coagulated distribution is unaffected by the initial
choice of dust distribution. Strong magnetic fields are found to enhance the
small grains depletion, causing an important increase of the ambipolar
diffusion. This hints that the magnetic field strength could be regulated by
the small grain population during the protostellar collapse. Fragmentation
could be effective for bare silicates, but its modeling relies on the choice of
ill-constrained parameters. It is also found to be negligible for icy grains.
When fragmentation occurs, it strongly affects the magnetic resistivities
profiles. Dust coagulation is a critical process that needs to be fully taken
into account during the protostellar collapse. The onset and feedback of
fragmentation remains uncertain and its modeling should be further
investigated.
Authors: Ugo Lebreuilly, Valentin Vallucci-Goy, Vincent Guillet, Maxime Lombart, Pierre Marchand.
We review some
of the main known results in each area, mention several open questions, and
discuss some connections among these four interesting topics.
We embark on a tour that takes us through four closely related topics: the
dual concepts of independence and spanning in finite abelian groups and the
analogous dual concepts of designs and distance sets on spheres. We review some
of the main known results in each area, mention several open questions, and
discuss some connections among these four interesting topics.
Authors: Bela Bajnok.
Our model is capable of recognizing whether an utterance is humorous or not and assess the intensity of it. We evaluate the model on episodes the model has not been exposed to during the training phase.
Prerecorded laughter accompanying dialog in comedy TV shows encourages the
audience to laugh by clearly marking humorous moments in the show. We present
an approach for automatically detecting humor in the Friends TV show using
multimodal data. Our model is capable of recognizing whether an utterance is
humorous or not and assess the intensity of it. We use the prerecorded laughter
in the show as annotation as it marks humor and the length of the audience's
laughter tells us how funny a given joke is. We evaluate the model on episodes
the model has not been exposed to during the training phase. Our results show
that the model is capable of correctly detecting whether an utterance is
humorous 78% of the time and how long the audience's laughter reaction should
last with a mean absolute error of 600 milliseconds.
Authors: Khalid Alnajjar, Mika Hämäläinen, Jörg Tiedemann, Jorma Laaksonen, Mikko Kurimo.
Gravitational-wave (GW) astrophysics is a field in full blossom. [Abridged.]
Gravitational-wave (GW) astrophysics is a field in full blossom. Since the
landmark detection of GWs from a binary black hole on September 14th 2015,
several compact-object binaries have been reported by the LIGO-Virgo
collaboration. Such events carry astrophysical and cosmological information
ranging from an understanding of how black holes and neutron stars are formed,
what neutron stars are composed of, how the Universe expands, and allow testing
general relativity in the highly-dynamical strong-field regime. It is the goal
of GW astrophysics to extract such information as accurately as possible. Yet,
this is only possible if the tools and technology used to detect and analyze
GWs are advanced enough. A key aspect of GW searches are waveform models, which
encapsulate our best predictions for the gravitational radiation under a
certain set of parameters, and that need to be cross-correlated with data to
extract GW signals. Waveforms must be very accurate to avoid missing important
physics in the data, which might be the key to answer the fundamental questions
of GW astrophysics. The continuous improvements of the current LIGO-Virgo
detectors, the development of next-generation ground-based detectors such as
the Einstein Telescope or the Cosmic Explorer, as well as the development of
the Laser Interferometer Space Antenna (LISA), demand accurate waveform models.
[Abridged.]
Authors: Andrea Antonelli.
We devote our studies to the subject of weakly nonintegrable dynamics of systems with a macroscopic number of degrees of freedom. We solve these challenges by performing numerical tests using computationally efficient model - unitary maps. The great advantage of unitary maps for numerical applications is time-discrete error-free evolution. To demonstrate the scope of obtained results we report on the application of the developed framework to Hamiltonian systems.
We devote our studies to the subject of weakly nonintegrable dynamics of
systems with a macroscopic number of degrees of freedom. Our main points of
interest are the relations between the timescales of thermalization and the
timescales of chaotization; the choice of appropriate observables and the
structure of equations coupling them; identifying the classes of weakly
nonintegrable dynamics and developing tools to diagnose the properties specific
to such classes. We discuss the traditional in the field methods for
thermalization timescale computation and employ them to study the scaling the
timescale with the proximity to the integrable limit. We then elaborate on a
novel framework based on the full Lyapunov spectra computation for large
systems as a powerful tool for the characterization of weak nonintegrability.
In particular, the Lyapunov spectrum scaling offers a quantitative description
allowing us to infer the structure of the underlying network of observables.
Proximity to integrable limit is associated with the rapid growth of
thermalization timescales and, thus, potential numerical challenges. We solve
these challenges by performing numerical tests using computationally efficient
model - unitary maps. The great advantage of unitary maps for numerical
applications is time-discrete error-free evolution. We use these advantages to
perform large timescale and system size computations in extreme proximity to
the integrable limit. To demonstrate the scope of obtained results we report on
the application of the developed framework to Hamiltonian systems.
Authors: Merab Malishava.
Image segmentation is important in medical imaging, providing valuable,
quantitative information for clinical decision-making in diagnosis, therapy,
and intervention. The state-of-the-art in automated segmentation remains
supervised learning, employing discriminative models such as U-Net. Recently, generative
models have been proposed for semantic segmentation, as they make an attractive
choice for SSL. Their ability to capture the joint distribution over input
images and output label maps provides a natural way to incorporate information
from unlabelled images.
Image segmentation is important in medical imaging, providing valuable,
quantitative information for clinical decision-making in diagnosis, therapy,
and intervention. The state-of-the-art in automated segmentation remains
supervised learning, employing discriminative models such as U-Net. However,
training these models requires access to large amounts of manually labelled
data which is often difficult to obtain in real medical applications. In such
settings, semi-supervised learning (SSL) attempts to leverage the abundance of
unlabelled data to obtain more robust and reliable models. Recently, generative
models have been proposed for semantic segmentation, as they make an attractive
choice for SSL. Their ability to capture the joint distribution over input
images and output label maps provides a natural way to incorporate information
from unlabelled images. This paper analyses whether deep generative models such
as the SemanticGAN are truly viable alternatives to tackle challenging medical
image segmentation problems. To that end, we thoroughly evaluate the
segmentation performance, robustness, and potential subgroup disparities of
discriminative and generative segmentation methods when applied to large-scale,
publicly available chest X-ray datasets.
Authors: Margherita Rosnati, Fabio De Sousa Ribeiro, Miguel Monteiro, Daniel Coelho de Castro, Ben Glocker.
Magnetic Resonance Imaging (MRI) is the most commonly used non-intrusive technique for medical image acquisition. Brain tumor segmentation is the process of algorithmically identifying tumors in brain MRI scans. Moreover, no additional data augmentation step is required.
Magnetic Resonance Imaging (MRI) is the most commonly used non-intrusive
technique for medical image acquisition. Brain tumor segmentation is the
process of algorithmically identifying tumors in brain MRI scans. While many
approaches have been proposed in the literature for brain tumor segmentation,
this paper proposes a lightweight implementation of U-Net. Apart from providing
real-time segmentation of MRI scans, the proposed architecture does not need
large amount of data to train the proposed lightweight U-Net. Moreover, no
additional data augmentation step is required. The lightweight U-Net shows very
promising results on BITE dataset and it achieves a mean
intersection-over-union (IoU) of 89% while outperforming the standard benchmark
algorithms. Additionally, this work demonstrates an effective use of the three
perspective planes, instead of the original three-dimensional volumetric
images, for simplified brain tumor segmentation.
Authors: Jason Walsh, Alice Othmani, Mayank Jain, Soumyabrata Dev.
While the local Coulomb
interaction $U$ is invariant for each basis of orthogonal orbitals, the form of
the kinetic energy depends on the orbital basis and takes the most symmetric
form for the so-called complex-orbital basis. Characteristically, with respect
to this basis, the model has two hopping channels, one that is orbital-flavor
conserving, and a second one that is orbital-flavor non-conserving. We show
that the noninteracting electronic structure consists of two nondegenerate
bands of plane-wave real-orbital single-particle states for which the orbital
depends on the wave vector. The
\textit{orbital liquid} state is obtained by filling these two bands up to the
same Fermi energy. The latter feature is shown to be
specific for $d=\infty$, being of mathematical nature due to the exponential
tails in the density of states.
We demonstrate that the three-dimensional $e_g$ orbital Hubbard model can be
generalized to arbitrary dimension $d$, and that the form of the result is
determined uniquely by the requirements that
(i) the two-fold degeneracy of the $e_g$ orbital be retained, and (ii) the
cubic lattice be turned into a hypercubic lattice. While the local Coulomb
interaction $U$ is invariant for each basis of orthogonal orbitals, the form of
the kinetic energy depends on the orbital basis and takes the most symmetric
form for the so-called complex-orbital basis. Characteristically, with respect
to this basis, the model has two hopping channels, one that is orbital-flavor
conserving, and a second one that is orbital-flavor non-conserving. We show
that the noninteracting electronic structure consists of two nondegenerate
bands of plane-wave real-orbital single-particle states for which the orbital
depends on the wave vector. Due to the latter feature each band is unpolarized
at any filling, and has a non-Gaussian density of states at $d=\infty$. The
\textit{orbital liquid} state is obtained by filling these two bands up to the
same Fermi energy. We investigate the $e_g$ orbital Hubbard model in the limit
$d\to\infty$, treating the on-site Coulomb interaction $U$ within the
Gutzwiller approximation, thus determining the correlation energy of the
orbital liquid and the (disordered) para-orbital states. (...) We show that the
orbital liquid is the ground state everywhere in the $(n,U)$ phase diagram
except close to half-filling at sufficiently large $U$, where ferro-orbital
order with real orbitals occupied is favored. The latter feature is shown to be
specific for $d=\infty$, being of mathematical nature due to the exponential
tails in the density of states.
Authors: Louis Felix Feiner, Andrzej M. Oleś.
Composition optimization recently appears in many machine learning applications such as meta learning and reinforcement learning. Moreover, we provide a solid theoretical analysis for our algorithms under non-i.i.d. Specifically, our algorithms obtain lower sample complexity of $\tilde{O}(\epsilon^{-3})$ with lower communication complexity of $\tilde{O}(\epsilon^{-2})$ in finding an $\epsilon$-stationary point. We conduct the experiments on robust federated learning and distributed meta learning tasks to demonstrate efficiency of our algorithms.
Composition optimization recently appears in many machine learning
applications such as meta learning and reinforcement learning. Recently many
composition optimization algorithms have been proposed and studied, however,
few adaptive algorithm considers the composition optimization under the
distributed setting. Meanwhile, the existing distributed composition
optimization methods still suffer from high sample and communication
complexities. In the paper, thus, we develop a class of faster momentum-based
federated compositional gradient descent algorithms (i.e., MFCGD and AdaMFCGD)
to solve the nonconvex distributed composition problems, which builds on the
momentum-based variance reduced and local-SGD techniques. In particular, our
adaptive algorithm (i.e., AdaMFCGD) uses a unified adaptive matrix to flexibly
incorporate various adaptive learning rates. Moreover, we provide a solid
theoretical analysis for our algorithms under non-i.i.d. setting, and prove our
algorithms obtain a lower sample and communication complexities simultaneously
than the existing federated compositional algorithms. Specifically, our
algorithms obtain lower sample complexity of $\tilde{O}(\epsilon^{-3})$ with
lower communication complexity of $\tilde{O}(\epsilon^{-2})$ in finding an
$\epsilon$-stationary point. We conduct the experiments on robust federated
learning and distributed meta learning tasks to demonstrate efficiency of our
algorithms.
Authors: Feihu Huang.