We observe a large variety of robots in terms of their bodies, sensors, and actuators. Given the commonalities in the skill sets, teaching each skill to each different robot independently is inefficient and not scalable when the large variety in the robotic landscape is considered. If we can learn the correspondences between the sensorimotor spaces of different robots, we can expect a skill that is learned in one robot can be more directly and easily transferred to other robots. In this paper, we propose a method to learn correspondences among two or more robots that may have different morphologies. To be specific, besides robots with similar morphologies with different degrees of freedom, we show that a fixed-based manipulator robot with joint control and a differential drive mobile robot can be addressed within the proposed framework. To set up the correspondence among the robots considered, an initial base task is demonstrated to the robots to achieve the same goal. Then, a common latent representation is learned along with the individual robot policies for achieving the goal. After the initial learning stage, the observation of a new task execution by one robot becomes sufficient to generate a latent space representation pertaining to the other robots to achieve the same task. We verified our system in a set of experiments where the correspondence between robots is learned (1) when the robots need to follow the same paths to achieve the same task, (2) when the robots need to follow different trajectories to achieve the same task, and (3) when complexities of the required sensorimotor trajectories are different for the robots. We also provide a proof-of-the-concept realization of correspondence learning between a real manipulator robot and a simulated mobile robot.
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Scattering networks yield powerful and robust hierarchical image descriptors which do not require lengthy training and which work well with very few training data. However, they rely on sampling the scale dimension. Hence, they become sensitive to scale variations and are unable to generalize to unseen scales. In this work, we define an alternative feature representation based on the Riesz transform. We detail and analyze the mathematical foundations behind this representation. In particular, it inherits scale equivariance from the Riesz transform and completely avoids sampling of the scale dimension. Additionally, the number of features in the representation is reduced by a factor four compared to scattering networks. Nevertheless, our representation performs comparably well for texture classification with an interesting addition: scale equivariance. Our method yields superior performance when dealing with scales outside of those covered by the training dataset. The usefulness of the equivariance property is demonstrated on the digit classification task, where accuracy remains stable even for scales four times larger than the one chosen for training. As a second example, we consider classification of textures.
We present a new perspective on bridging the generalization gap between biological and computer vision -- mimicking the human visual diet. While computer vision models rely on internet-scraped datasets, humans learn from limited 3D scenes under diverse real-world transformations with objects in natural context. Our results demonstrate that incorporating variations and contextual cues ubiquitous in the human visual training data (visual diet) significantly improves generalization to real-world transformations such as lighting, viewpoint, and material changes. This improvement also extends to generalizing from synthetic to real-world data -- all models trained with a human-like visual diet outperform specialized architectures by large margins when tested on natural image data. These experiments are enabled by our two key contributions: a novel dataset capturing scene context and diverse real-world transformations to mimic the human visual diet, and a transformer model tailored to leverage these aspects of the human visual diet. All data and source code can be accessed at //github.com/Spandan-Madan/human_visual_diet.
In the conventional change detection (CD) pipeline, two manually registered and labeled remote sensing datasets serve as the input of the model for training and prediction. However, in realistic scenarios, data from different periods or sensors could fail to be aligned as a result of various coordinate systems. Geometric distortion caused by coordinate shifting remains a thorny issue for CD algorithms. In this paper, we propose a reusable self-supervised framework for bitemporal geometric distortion in CD tasks. The whole framework is composed of Pretext Representation Pre-training, Bitemporal Image Alignment, and Down-stream Decoder Fine-Tuning. With only single-stage pre-training, the key components of the framework can be reused for assistance in the bitemporal image alignment, while simultaneously enhancing the performance of the CD decoder. Experimental results in 2 large-scale realistic scenarios demonstrate that our proposed method can alleviate the bitemporal geometric distortion in CD tasks.
Regularization promotes well-posedness in solving an inverse problem with incomplete measurement data. The regularization term is typically designed based on a priori characterization of the unknown signal, such as sparsity or smoothness. The standard inhomogeneous regularization incorporates a spatially changing exponent $p$ of the standard $\ell_p$ norm-based regularization to recover a signal whose characteristic varies spatially. This study proposes a weighted inhomogeneous regularization that extends the standard inhomogeneous regularization through new exponent design and weighting using spatially varying weights. The new exponent design avoids misclassification when different characteristics stay close to each other. The weights handle another issue when the region of one characteristic is too small to be recovered effectively by the $\ell_p$ norm-based regularization even after identified correctly. A suite of numerical tests shows the efficacy of the proposed weighted inhomogeneous regularization, including synthetic image experiments and real sea ice recovery from its incomplete wave measurements.
Dynamic crack branching in unsaturated porous media holds significant relevance in various fields, including geotechnical engineering, geosciences, and petroleum engineering. This article presents a numerical investigation into dynamic crack branching in unsaturated porous media using a recently developed coupled micro-periporomechanics paradigm. This paradigm extends the periporomechanics model by incorporating the micro-rotation of the solid skeleton. Within this framework, each material point is equipped with three degrees of freedom: displacement, micro-rotation, and fluid pressure. Consistent with the Cosserat continuum theory, a length scale associated with the micro-rotation of material points is inherently integrated into the model. This study encompasses several key aspects: (1) Validation of the coupled micro-periporomechanics paradigm for effectively modeling crack branching in deformable porous media, (2) Examination of the transition from a single branch to multiple branches in porous media under drained conditions, (3) Simulation of single crack branching in unsaturated porous media under dynamic loading conditions, and (4) Investigation of multiple crack branching in unsaturated porous media under dynamic loading conditions. The numerical results obtained in this study are systematically analyzed to elucidate the factors that influence dynamic crack branching in porous media subjected to dynamic loading. Furthermore, the comprehensive numerical findings underscore the efficacy and robustness of the coupled micro-periporomechanics paradigm in accurately modeling dynamic crack branching in variably saturated porous media.
A general theory of efficient estimation for ergodic diffusion processes sampled at high frequency with an infinite time horizon is presented. High frequency sampling is common in many applications, with finance as a prominent example. The theory is formulated in term of approximate martingale estimating functions and covers a large class of estimators including most of the previously proposed estimators for diffusion processes. Easily checked conditions ensuring that an estimating function is an approximate martingale are derived, and general conditions ensuring consistency and asymptotic normality of estimators are given. Most importantly, simple conditions are given that ensure rate optimality and efficiency. Rate optimal estimators of parameters in the diffusion coefficient converge faster than estimators of drift coefficient parameters because they take advantage of the information in the quadratic variation. The conditions facilitate the choice among the multitude of estimators that have been proposed for diffusion models. Optimal martingale estimating functions in the sense of Godambe and Heyde and their high frequency approximations are, under weak conditions, shown to satisfy the conditions for rate optimality and efficiency. This provides a natural feasible method of constructing explicit rate optimal and efficient estimating functions by solving a linear equation.
Confounding remains one of the major challenges to causal inference with observational data. This problem is paramount in medicine, where we would like to answer causal questions from large observational datasets like electronic health records (EHRs) and administrative claims. Modern medical data typically contain tens of thousands of covariates. Such a large set carries hope that many of the confounders are directly measured, and further hope that others are indirectly measured through their correlation with measured covariates. How can we exploit these large sets of covariates for causal inference? To help answer this question, this paper examines the performance of the large-scale propensity score (LSPS) approach on causal analysis of medical data. We demonstrate that LSPS may adjust for indirectly measured confounders by including tens of thousands of covariates that may be correlated with them. We present conditions under which LSPS removes bias due to indirectly measured confounders, and we show that LSPS may avoid bias when inadvertently adjusting for variables (like colliders) that otherwise can induce bias. We demonstrate the performance of LSPS with both simulated medical data and real medical data.
Large language models (LLMs) are a class of artificial intelligence models based on deep learning, which have great performance in various tasks, especially in natural language processing (NLP). Large language models typically consist of artificial neural networks with numerous parameters, trained on large amounts of unlabeled input using self-supervised or semi-supervised learning. However, their potential for solving bioinformatics problems may even exceed their proficiency in modeling human language. In this review, we will present a summary of the prominent large language models used in natural language processing, such as BERT and GPT, and focus on exploring the applications of large language models at different omics levels in bioinformatics, mainly including applications of large language models in genomics, transcriptomics, proteomics, drug discovery and single cell analysis. Finally, this review summarizes the potential and prospects of large language models in solving bioinformatic problems.
Chiral molecule assignation is crucial for asymmetric catalysis, functional materials, and the drug industry. The conventional approach requires theoretical calculations of electronic circular dichroism (ECD) spectra, which is time-consuming and costly. To speed up this process, we have incorporated deep learning techniques for the ECD prediction. We first set up a large-scale dataset of Chiral Molecular ECD spectra (CMCDS) with calculated ECD spectra. We further develop the ECDFormer model, a Transformer-based model to learn the chiral molecular representations and predict corresponding ECD spectra with improved efficiency and accuracy. Unlike other models for spectrum prediction, our ECDFormer creatively focused on peak properties rather than the whole spectrum sequence for prediction, inspired by the scenario of chiral molecule assignation. Specifically, ECDFormer predicts the peak properties, including number, position, and symbol, then renders the ECD spectra from these peak properties, which significantly outperforms other models in ECD prediction, Our ECDFormer reduces the time of acquiring ECD spectra from 1-100 hours per molecule to 1.5s.
Artificial neural networks thrive in solving the classification problem for a particular rigid task, acquiring knowledge through generalized learning behaviour from a distinct training phase. The resulting network resembles a static entity of knowledge, with endeavours to extend this knowledge without targeting the original task resulting in a catastrophic forgetting. Continual learning shifts this paradigm towards networks that can continually accumulate knowledge over different tasks without the need to retrain from scratch. We focus on task incremental classification, where tasks arrive sequentially and are delineated by clear boundaries. Our main contributions concern 1) a taxonomy and extensive overview of the state-of-the-art, 2) a novel framework to continually determine the stability-plasticity trade-off of the continual learner, 3) a comprehensive experimental comparison of 11 state-of-the-art continual learning methods and 4 baselines. We empirically scrutinize method strengths and weaknesses on three benchmarks, considering Tiny Imagenet and large-scale unbalanced iNaturalist and a sequence of recognition datasets. We study the influence of model capacity, weight decay and dropout regularization, and the order in which the tasks are presented, and qualitatively compare methods in terms of required memory, computation time, and storage.
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