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2022-11-03

Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following

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.

2022-11-03

Seamless Phase 2-3 Design: A Useful Strategy to Reduce the Sample Size for Dose Optimization

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.

2022-11-03

Fast and robust Bayesian Inference using Gaussian Processes with GPry

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.

2022-11-03

Competitive Kill-and-Restart Strategies for Non-Clairvoyant Scheduling

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.

2022-11-03

Could Giant Pretrained Image Models Extract Universal Representations?

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.

2022-11-03

Deep meta-learning for the selection of accurate ultrasound based breast mass classifier

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.

2022-11-03

Protostellar collapse simulations in spherical geometry with dust coagulation and fragmentation

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.

2022-11-03

Additive Combinatorics in Groups and Geometric Combinatorics 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. 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.

2022-11-03

When to Laugh and How Hard? A Multimodal Approach to Detecting Humor and its Intensity

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.

2022-11-03

Accurate waveform models for gravitational-wave astrophysics: synergetic approaches from analytical relativity

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.

2022-11-03

Thermalization of Classical Weakly Nonintegrable Many-Body Systems

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.

2022-11-03

Analysing the effectiveness of a generative model for semi-supervised medical image segmentation

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.

2022-11-03

Using U-Net Network for Efficient Brain Tumor Segmentation in MRI Images

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.

2022-11-03

Orbital liquid in the $e_g$ orbital Hubbard model in $d=\infty$ dimensions

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.

2022-11-03

Faster Adaptive Momentum-Based Federated Methods for Distributed Composition Optimization

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.