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Intractable generative models are models for which the likelihood is unavailable but sampling is possible. Most approaches to parameter inference in this setting require the computation of some discrepancy between the data and the generative model. This is for example the case for minimum distance estimation and approximate Bayesian computation. These approaches require sampling a high number of realisations from the model for different parameter values, which can be a significant challenge when simulating is an expensive operation. In this paper, we propose to enhance this approach by enforcing "sample diversity" in simulations of our models. This will be implemented through the use of quasi-Monte Carlo (QMC) point sets. Our key results are sample complexity bounds which demonstrate that, under smoothness conditions on the generator, QMC can significantly reduce the number of samples required to obtain a given level of accuracy when using three of the most common discrepancies: the maximum mean discrepancy, the Wasserstein distance, and the Sinkhorn divergence. This is complemented by a simulation study which highlights that an improved accuracy is sometimes also possible in some settings which are not covered by the theory.

Kernel segmentation aims at partitioning a data sequence into several non-overlapping segments that may have nonlinear and complex structures. In general, it is formulated as a discrete optimization problem with combinatorial constraints. A popular algorithm for optimally solving this problem is dynamic programming (DP), which has quadratic computation and memory requirements. Given that sequences in practice are too long, this algorithm is not a practical approach. Although many heuristic algorithms have been proposed to approximate the optimal segmentation, they have no guarantee on the quality of their solutions. In this paper, we take a differentiable approach to alleviate the aforementioned issues. First, we introduce a novel sigmoid-based regularization to smoothly approximate the combinatorial constraints. Combining it with objective of the balanced kernel clustering, we formulate a differentiable model termed Kernel clustering with sigmoid-based regularization (KCSR), where the gradient-based algorithm can be exploited to obtain the optimal segmentation. Second, we develop a stochastic variant of the proposed model. By using the stochastic gradient descent algorithm, which has much lower time and space complexities, for optimization, the second model can perform segmentation on overlong data sequences. Finally, for simultaneously segmenting multiple data sequences, we slightly modify the sigmoid-based regularization to further introduce an extended variant of the proposed model. Through extensive experiments on various types of data sequences performances of our models are evaluated and compared with those of the existing methods. The experimental results validate advantages of the proposed models. Our Matlab source code is available on github.

Mantaci et al. [TCS 2007] defined the eBWT to extend the definition of the BWT to a collection of strings, however, since this introduction, it has been used more generally to describe any BWT of a collection of strings and the fundamental property of the original definition (i.e., the independence from the input order) is frequently disregarded. In this paper, we propose a simple linear-time algorithm for the construction of the original eBWT, which does not require the preprocessing of Bannai et al. [CPM 2021]. As a byproduct, we obtain the first linear-time algorithm for computing the BWT of a single string that uses neither an end-of-string symbol nor Lyndon rotations. We combine our new eBWT construction with a variation of prefix-free parsing to allow for scalable construction of the eBWT. We evaluate our algorithm (pfpebwt) on sets of human chromosomes 19, Salmonella, and SARS-CoV2 genomes, and demonstrate that it is the fastest method for all collections, with a maximum speedup of 7.6x on the second best method. The peak memory is at most 2x larger than the second best method. Comparing with methods that are also, as our algorithm, able to report suffix array samples, we obtain a 57.1x improvement in peak memory. The source code is publicly available at //github.com/davidecenzato/PFP-eBWT.

A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging information and the deformations of the breast make it challenging to bring the needle precisely towards the tumour detected in pre-interventional Magnetic Resonance (MR) images. The current manual MRI-guided biopsy workflow is inaccurate and would benefit from a technique that allows real-time tracking and localisation of the tumour lesion during needle insertion. This paper proposes a robotic setup and software architecture to assist the radiologist in targeting MR-detected suspicious tumours. The approach benefits from image fusion of preoperative images with intraoperative optical tracking of markers attached to the patient's skin. A hand-mounted biopsy device has been constructed with an actuated needle base to drive the tip toward the desired direction. The steering commands may be provided both by user input and by computer guidance. The workflow is validated through phantom experiments. On average, the suspicious breast lesion is targeted with a radius down to 2.3 mm. The results suggest that robotic systems taking into account breast deformations have the potentials to tackle this clinical challenge.

Path planning, the problem of efficiently discovering high-reward trajectories, often requires optimizing a high-dimensional and multimodal reward function. Popular approaches like CEM and CMA-ES greedily focus on promising regions of the search space and may get trapped in local maxima. DOO and VOOT balance exploration and exploitation, but use space partitioning strategies independent of the reward function to be optimized. Recently, LaMCTS empirically learns to partition the search space in a reward-sensitive manner for black-box optimization. In this paper, we develop a novel formal regret analysis for when and why such an adaptive region partitioning scheme works. We also propose a new path planning method PlaLaM which improves the function value estimation within each sub-region, and uses a latent representation of the search space. Empirically, PlaLaM outperforms existing path planning methods in 2D navigation tasks, especially in the presence of difficult-to-escape local optima, and shows benefits when plugged into model-based RL with planning components such as PETS. These gains transfer to highly multimodal real-world tasks, where we outperform strong baselines in compiler phase ordering by up to 245% and in molecular design by up to 0.4 on properties on a 0-1 scale.

Many tasks in robot-assisted surgery require planning and controlling manipulators' motions that interact with highly deformable objects. This study proposes a realistic, time-bounded simulator based on Position-based Dynamics (PBD) simulation that mocks brain deformations due to catheter insertion for pre-operative path planning and intra-operative guidance in keyhole surgical procedures. It maximizes the probability of success by accounting for uncertainty in deformation models, noisy sensing, and unpredictable actuation. The PBD deformation parameters were initialized on a parallelepiped-shaped simulated phantom to obtain a reasonable starting guess for the brain white matter. They were calibrated by comparing the obtained displacements with deformation data for catheter insertion in a composite hydrogel phantom. Knowing the gray matter brain structures' different behaviors, the parameters were fine-tuned to obtain a generalized human brain model. The brain structures' average displacement was compared with values in the literature. The simulator's numerical model uses a novel approach with respect to the literature, and it has proved to be a close match with real brain deformations through validation using recorded deformation data of in-vivo animal trials with a mean mismatch of 4.73$\pm$2.15%. The stability, accuracy, and real-time performance make this model suitable for creating a dynamic environment for KN path planning, pre-operative path planning, and intra-operative guidance.

Many important real-world problems have action spaces that are high-dimensional, continuous or both, making full enumeration of all possible actions infeasible. Instead, only small subsets of actions can be sampled for the purpose of policy evaluation and improvement. In this paper, we propose a general framework to reason in a principled way about policy evaluation and improvement over such sampled action subsets. This sample-based policy iteration framework can in principle be applied to any reinforcement learning algorithm based upon policy iteration. Concretely, we propose Sampled MuZero, an extension of the MuZero algorithm that is able to learn in domains with arbitrarily complex action spaces by planning over sampled actions. We demonstrate this approach on the classical board game of Go and on two continuous control benchmark domains: DeepMind Control Suite and Real-World RL Suite.

This work presents a new strategy for multi-class classification that requires no class-specific labels, but instead leverages pairwise similarity between examples, which is a weaker form of annotation. The proposed method, meta classification learning, optimizes a binary classifier for pairwise similarity prediction and through this process learns a multi-class classifier as a submodule. We formulate this approach, present a probabilistic graphical model for it, and derive a surprisingly simple loss function that can be used to learn neural network-based models. We then demonstrate that this same framework generalizes to the supervised, unsupervised cross-task, and semi-supervised settings. Our method is evaluated against state of the art in all three learning paradigms and shows a superior or comparable accuracy, providing evidence that learning multi-class classification without multi-class labels is a viable learning option.

As the first step to model emotional state of a person, we build sentiment analysis models with existing deep neural network algorithms and compare the models with psychological measurements to enlighten the relationship. In the experiments, we first examined psychological state of 64 participants and asked them to summarize the story of a book, Chronicle of a Death Foretold (Marquez, 1981). Secondly, we trained models using crawled 365,802 movie review data; then we evaluated participants' summaries using the pretrained model as a concept of transfer learning. With the background that emotion affects on memories, we investigated the relationship between the evaluation score of the summaries from computational models and the examined psychological measurements. The result shows that although CNN performed the best among other deep neural network algorithms (LSTM, GRU), its results are not related to the psychological state. Rather, GRU shows more explainable results depending on the psychological state. The contribution of this paper can be summarized as follows: (1) we enlighten the relationship between computational models and psychological measurements. (2) we suggest this framework as objective methods to evaluate the emotion; the real sentiment analysis of a person.

This paper reports Deep LOGISMOS approach to 3D tumor segmentation by incorporating boundary information derived from deep contextual learning to LOGISMOS - layered optimal graph image segmentation of multiple objects and surfaces. Accurate and reliable tumor segmentation is essential to tumor growth analysis and treatment selection. A fully convolutional network (FCN), UNet, is first trained using three adjacent 2D patches centered at the tumor, providing contextual UNet segmentation and probability map for each 2D patch. The UNet segmentation is then refined by Gaussian Mixture Model (GMM) and morphological operations. The refined UNet segmentation is used to provide the initial shape boundary to build a segmentation graph. The cost for each node of the graph is determined by the UNet probability maps. Finally, a max-flow algorithm is employed to find the globally optimal solution thus obtaining the final segmentation. For evaluation, we applied the method to pancreatic tumor segmentation on a dataset of 51 CT scans, among which 30 scans were used for training and 21 for testing. With Deep LOGISMOS, DICE Similarity Coefficient (DSC) and Relative Volume Difference (RVD) reached 83.2+-7.8% and 18.6+-17.4% respectively, both are significantly improved (p<0.05) compared with contextual UNet and/or LOGISMOS alone.