Evolutionary search-based techniques are commonly used for testing autonomous robotic systems. However, these approaches often rely on computationally expensive simulator-based models for test scenario evaluation. To improve the computational efficiency of the search-based testing, we propose augmenting the evolutionary search (ES) with a reinforcement learning (RL) agent trained using surrogate rewards derived from domain knowledge. In our approach, known as RIGAA (Reinforcement learning Informed Genetic Algorithm for Autonomous systems testing), we first train an RL agent to learn useful constraints of the problem and then use it to produce a certain part of the initial population of the search algorithm. By incorporating an RL agent into the search process, we aim to guide the algorithm towards promising regions of the search space from the start, enabling more efficient exploration of the solution space. We evaluate RIGAA on two case studies: maze generation for an autonomous ant robot and road topology generation for an autonomous vehicle lane keeping assist system. In both case studies, RIGAA converges faster to fitter solutions and produces a better test suite (in terms of average test scenario fitness and diversity). RIGAA also outperforms the state-of-the-art tools for vehicle lane keeping assist system testing, such as AmbieGen and Frenetic.
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Computational platforms for high-performance scientific applications are becoming more heterogenous, including hardware accelerators such as multiple GPUs. Applications in a wide variety of scientific fields require an efficient and careful management of the computational resources of this type of hardware to obtain the best possible performance. However, there are currently different GPU vendors, architectures and families that can be found in heterogeneous clusters or machines. Programming with the vendor provided languages or frameworks, and optimizing for specific devices, may become cumbersome and compromise portability to other systems. To overcome this problem, several proposals for high-level heterogeneous programming have appeared, trying to reduce the development effort and increase functional and performance portability, specifically when using GPU hardware accelerators. This paper evaluates the SYCL programming model, using the Open SYCL compiler, from two different perspectives: The performance it offers when dealing with single or multiple GPU devices from the same or different vendors, and the development effort required to implement the code. We use as case of study the Finite Time Lyapunov Exponent calculation over two real-world scenarios and compare the performance and the development effort of its Open SYCL-based version against the equivalent versions that use CUDA or HIP. Based on the experimental results, we observe that the use of SYCL does not lead to a remarkable overhead in terms of the GPU kernels execution time. In general terms, the Open SYCL development effort for the host code is lower than that observed with CUDA or HIP. Moreover, the SYCL version can take advantage of both CUDA and AMD GPU devices simultaneously much easier than directly using the vendor-specific programming solutions.
The rapid evolution of deep learning has significantly advanced the field of medical image analysis. However, despite these achievements, the further enhancement of deep learning models for medical image analysis faces a significant challenge due to the scarcity of large, well-annotated datasets. To address this issue, recent years have witnessed a growing emphasis on the development of data-efficient deep learning methods. This paper conducts a thorough review of data-efficient deep learning methods for medical image analysis. To this end, we categorize these methods based on the level of supervision they rely on, encompassing categories such as no supervision, inexact supervision, incomplete supervision, inaccurate supervision, and only limited supervision. We further divide these categories into finer subcategories. For example, we categorize inexact supervision into multiple instance learning and learning with weak annotations. Similarly, we categorize incomplete supervision into semi-supervised learning, active learning, and domain-adaptive learning and so on. Furthermore, we systematically summarize commonly used datasets for data efficient deep learning in medical image analysis and investigate future research directions to conclude this survey.
Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and navigation of the endoscope are completely performed manually by physicians. To broaden this research and bring spatial Artificial Intelligence to endoscopies, data from complete procedures is needed. This paper introduces the Endomapper dataset, the first collection of complete endoscopy sequences acquired during regular medical practice, making secondary use of medical data. Its main purpose is to facilitate the development and evaluation of Visual Simultaneous Localization and Mapping (VSLAM) methods in real endoscopy data. The dataset contains more than 24 hours of video. It is the first endoscopic dataset that includes endoscope calibration as well as the original calibration videos. Meta-data and annotations associated with the dataset vary from the anatomical landmarks, procedure labeling, segmentations, reconstructions, simulated sequences with ground truth and same patient procedures. The software used in this paper is publicly available.
A physics-informed convolutional neural network is proposed to simulate two phase flow in porous media with time-varying well controls. While most of PICNNs in existing literatures worked on parameter-to-state mapping, our proposed network parameterizes the solution with time-varying controls to establish a control-to-state regression. Firstly, finite volume scheme is adopted to discretize flow equations and formulate loss function that respects mass conservation laws. Neumann boundary conditions are seamlessly incorporated into the semi-discretized equations so no additional loss term is needed. The network architecture comprises two parallel U-Net structures, with network inputs being well controls and outputs being the system states. To capture the time-dependent relationship between inputs and outputs, the network is well designed to mimic discretized state space equations. We train the network progressively for every timestep, enabling it to simultaneously predict oil pressure and water saturation at each timestep. After training the network for one timestep, we leverage transfer learning techniques to expedite the training process for subsequent timestep. The proposed model is used to simulate oil-water porous flow scenarios with varying reservoir gridblocks and aspects including computation efficiency and accuracy are compared against corresponding numerical approaches. The results underscore the potential of PICNN in effectively simulating systems with numerous grid blocks, as computation time does not scale with model dimensionality. We assess the temporal error using 10 different testing controls with variation in magnitude and another 10 with higher alternation frequency with proposed control-to-state architecture. Our observations suggest the need for a more robust and reliable model when dealing with controls that exhibit significant variations in magnitude or frequency.
Deep generative models are key-enabling technology to computer vision, text generation and large language models. Denoising diffusion probabilistic models (DDPMs) have recently gained much attention due to their ability to generate diverse and high-quality samples in many computer vision tasks, as well as to incorporate flexible model architectures and relatively simple training scheme. Quantum generative models, empowered by entanglement and superposition, have brought new insight to learning classical and quantum data. Inspired by the classical counterpart, we propose the quantum denoising diffusion probabilistic models (QuDDPM) to enable efficiently trainable generative learning of quantum data. QuDDPM adopts sufficient layers of circuits to guarantee expressivity, while introduces multiple intermediate training tasks as interpolation between the target distribution and noise to avoid barren plateau and guarantee efficient training. We demonstrate QuDDPM's capability in learning correlated quantum noise model and learning topological structure of nontrivial distribution of quantum data.
Support vector machines (SVMs) are widely used and constitute one of the best examined and used machine learning models for two-class classification. Classification in SVM is based on a score procedure, yielding a deterministic classification rule, which can be transformed into a probabilistic rule (as implemented in off-the-shelf SVM libraries), but is not probabilistic in nature. On the other hand, the tuning of the regularization parameters in SVM is known to imply a high computational effort and generates pieces of information that are not fully exploited, not being used to build a probabilistic classification rule. In this paper we propose a novel approach to generate probabilistic outputs for the SVM. The new method has the following three properties. First, it is designed to be cost-sensitive, and thus the different importance of sensitivity (or true positive rate, TPR) and specificity (true negative rate, TNR) is readily accommodated in the model. As a result, the model can deal with imbalanced datasets which are common in operational business problems as churn prediction or credit scoring. Second, the SVM is embedded in an ensemble method to improve its performance, making use of the valuable information generated in the parameters tuning process. Finally, the probabilities estimation is done via bootstrap estimates, avoiding the use of parametric models as competing approaches. Numerical tests on a wide range of datasets show the advantages of our approach over benchmark procedures.
We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the order constraints could not be easily satisfied since some objects occlude other objects so the occluded ones are not directly accessible to the robots. Those objects occluding others need to be moved more than once to make the occluded objects accessible. Such rearrangement problems fall into the class of nonmonotone rearrangement problems which are computationally intractable. While the nonmonotone problems with order constraints are harder, involving with multiple robots requires another computation for task allocation. The proposed method first finds a sequence of objects to be sorted using a search such that the order constraint in each group is satisfied. The search can solve nonmonotone instances that require temporal relocation of some objects to access the next object to be sorted. Once a complete sorting sequence is found, the objects in the sequence are assigned to multiple mobile manipulators using a greedy allocation method. We develop four versions of the method with different search strategies. In the experiments, we show that our method can find a sorting sequence quickly (e.g., 4.6 sec with 20 objects sorted into five groups) even though the solved instances include hard nonmonotone ones. The extensive tests and the experiments in simulation show the ability of the method to solve the real-world sorting problem using multiple mobile manipulators.
Electrical circuits are present in a variety of technologies, making their design an important part of computer aided engineering. The growing number of tunable parameters that affect the final design leads to a need for new approaches of quantifying their impact. Machine learning may play a key role in this regard, however current approaches often make suboptimal use of existing knowledge about the system at hand. In terms of circuits, their description via modified nodal analysis is well-understood. This particular formulation leads to systems of differential-algebraic equations (DAEs) which bring with them a number of peculiarities, e.g. hidden constraints that the solution needs to fulfill. We aim to use the recently introduced dissection concept for DAEs that can decouple a given system into ordinary differential equations, only depending on differential variables, and purely algebraic equations that describe the relations between differential and algebraic variables. The idea then is to only learn the differential variables and reconstruct the algebraic ones using the relations from the decoupling. This approach guarantees that the algebraic constraints are fulfilled up to the accuracy of the nonlinear system solver, which represents the main benefit highlighted in this article.
Cross-validation (CV) is one of the most widely used techniques in statistical learning for estimating the test error of a model, but its behavior is not yet fully understood. It has been shown that standard confidence intervals for test error using estimates from CV may have coverage below nominal levels. This phenomenon occurs because each sample is used in both the training and testing procedures during CV and as a result, the CV estimates of the errors become correlated. Without accounting for this correlation, the estimate of the variance is smaller than it should be. One way to mitigate this issue is by estimating the mean squared error of the prediction error instead using nested CV. This approach has been shown to achieve superior coverage compared to intervals derived from standard CV. In this work, we generalize the nested CV idea to the Cox proportional hazards model and explore various choices of test error for this setting.
Deep neural networks for graphs have emerged as a powerful tool for learning on complex non-euclidean data, which is becoming increasingly common for a variety of different applications. Yet, although their potential has been widely recognised in the machine learning community, graph learning is largely unexplored for downstream tasks such as robotics applications. To fully unlock their potential, hence, we propose a review of graph neural architectures from a robotics perspective. The paper covers the fundamentals of graph-based models, including their architecture, training procedures, and applications. It also discusses recent advancements and challenges that arise in applied settings, related for example to the integration of perception, decision-making, and control. Finally, the paper provides an extensive review of various robotic applications that benefit from learning on graph structures, such as bodies and contacts modelling, robotic manipulation, action recognition, fleet motion planning, and many more. This survey aims to provide readers with a thorough understanding of the capabilities and limitations of graph neural architectures in robotics, and to highlight potential avenues for future research.
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