Miracle-dz/UniFAR-FTUs huggingface dataset:
PCEDNet : A Neural Network for Fast and Efficient Edge Detection in 3D Point Clouds

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges in point clouds, where both edges and their surrounding are described. We propose a new parameterization adding to each point a set of differential information on its surrounding shape reconstructed at different scales. These parameters, stored in a Scale-Space Matrix (SSM), provide a well suited information from which an adequate neural network can learn the description of edges and use it to efficiently detect them in acquired point clouds. After successfully applying a multi-scale CNN on SSMs for the efficient classification of edges and their neighborhood, we propose a new neural network architecture outperforming the CNN in learning time, processing time and classification capabilities. Our architecture is compact, requires small learning sets, is very fast to train and classifies millions of points in seconds.
Convolution Neural Networks for Semantic Segmentation: Application to Small Datasets of Biomedical Images

This thesis studies how the segmentation results, produced by convolutional neural networks (CNN), is different from each other when applied to small biomedical datasets. We use different architectures, parameters and hyper-parameters, trying to find out the better configurations for our task, and trying to find out underlying regularities. Two working datasets are from biomedical area of research. We conducted a lot of experiments with the two types of networks and the received results have shown the preference of some conditions of experiments and parameters of the networks over the others. All testing results are given in the tables and some selected resulting graphs and segmentation predictions are shown for better illustration.
QGOpt: Riemannian optimization for quantum technologies

Many theoretical problems in quantum technology can be formulated and addressed as constrained optimization problems. The most common quantum mechanical constraints such as, e.g., orthogonality of isometric and unitary matrices, CPTP property of quantum channels, and conditions on density matrices, can be seen as quotient or embedded Riemannian manifolds. This allows to use Riemannian optimization techniques for solving quantum-mechanical constrained optimization problems. In the present work, we introduce QGOpt, the library for constrained optimization in quantum technology. QGOpt relies on the underlying Riemannian structure of quantum-mechanical constraints and permits application of standard gradient based optimization methods while preserving quantum mechanical constraints. Moreover, QGOpt is written on top of TensorFlow, which enables automatic differentiation to calculate necessary gradients for optimization. We show two application examples: quantum gate decomposition and quantum tomography.
Amortized Variational Deep Q Network

Efficient exploration is one of the most important issues in deep reinforcement learning. To address this issue, recent methods consider the value function parameters as random variables, and resort variational inference to approximate the posterior of the parameters. In this paper, we propose an amortized variational inference framework to approximate the posterior distribution of the action value function in Deep Q Network. We establish the equivalence between the loss of the new model and the amortized variational inference loss. We realize the balance of exploration and exploitation by assuming the posterior as Cauchy and Gaussian, respectively in a two-stage training process. We show that the amortized framework can results in significant less learning parameters than existing state-of-the-art method. Experimental results on classical control tasks in OpenAI Gym and chain Markov Decision Process tasks show that the proposed method performs significantly better than state-of-art methods and requires much less training time.
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion

Enforcing safety of robotic systems in the presence of stochastic uncertainty is a challenging problem. Traditionally,researchers have proposed safety in the statistical mean as a safety measure in this case. However, ensuring safety in the statistical mean is only reasonable if robot safe behavior in the large number of runs is of interest, which precludes the use of mean safety in practical scenarios. In this paper, we propose a risk sensitive notion of safety called conditional-value-at-risk (CVaR) safety, which is concerned with safe performance in the worst case realizations. We introduce CVaR barrier functions asa tool to enforce CVaR safety and propose conditions for their Boolean compositions. Given a legacy controller, we show that we can design a minimally interfering CVaR safe controller via solving difference convex programs. We elucidate the proposed method by applying it to a bipedal locomotion case study.
Sanguine: Visual analysis for patient blood management

Blood transfusion is a frequently performed medical procedure in surgical and nonsurgical contexts. Although it is often necessary or even life-saving, it has been identified as one of the most overused procedures in hospitals. Unnecessary transfusions not only waste resources but can also be detrimental to patient outcomes. Patient blood management (PBM) is the clinical practice of optimizing transfusions and associated outcomes. In this paper, we introduce Sanguine, a visual analysis tool for transfusion data and related patient medical records. Sanguine was designed with two user groups in mind: PBM experts who oversee blood management practices across an institution and clinicians performing transfusions. PBM experts use Sanguine to explore and analyze transfusion practices and their associated medical outcomes. They can compare individual surgeons, or compare outcomes or time periods, such as before and after an intervention regarding transfusion practices. PBM experts then curate and annotate views for communication with clinicians, with the goal of improving their transfusion practices. We validate the utility and effectiveness of Sanguine through case studies.
Kinetic models for semiflexible polymers in a half-plane

Based on a general discrete model for a semiflexible polymer chain, we introduce a formal derivation of a kinetic equation for semiflexible polymers in the half-plane via a continuum limit. The resulting equation is the kinetic Fokker-Planck-type equation with the Laplace-Beltrami operator under the trapping boundary condition if one assumes the energy-minimizing transition at the boundary. We then study the well-posedness and the long-chain asymptotics of the solutions of the resulting equation. In particular, we prove that there exists a unique measure solution for the corresponding boundary value problem. In addition, we prove that the equation is hypoelliptic and the solutions are locally H\"older continuous near the singular set. Finally, we provide the asymptotic behaviors of the solutions for large polymer chains.
Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery

Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical videos and robotic kinematics can be recorded, which provide complementary knowledge for understanding surgical gestures. However, existing methods either solely adopt uni-modal data or directly concatenate multi-modal representations, which can not sufficiently exploit the informative correlations inherent in visual and kinematics data to boost gesture recognition accuracies. In this regard, we propose a novel online approach of multi-modal relational graph network (i.e., MRG-Net) to dynamically integrate visual and kinematics information through interactive message propagation in the latent feature space. In specific, we first extract embeddings from video and kinematics sequences with temporal convolutional networks and LSTM units. Next, we identify multi-relations in these multi-modal embeddings and leverage them through a hierarchical relational graph learning module. The effectiveness of our method is demonstrated with state-of-the-art results on the public JIGSAWS dataset, outperforming current uni-modal and multi-modal methods on both suturing and knot typing tasks. Furthermore, we validated our method on in-house visual-kinematics datasets collected with da Vinci Research Kit (dVRK) platforms in two centers, with consistent promising performance achieved. Our code and data are released at: https://www.cse. cuhk.edu. hk/~yhlong/mrgnet.html.
Realistic head modeling of electromagnetic brain activity: An integrated Brainstorm pipeline from MRI data to the FEM solution

Human brain activity generates scalp potentials (electroencephalography EEG), intracranial potentials (iEEG), and external magnetic fields (magnetoencephalography MEG), all capable of being recorded, often simultaneously, for use in research and clinical applications. The so-called forward problem is the modeling of these fields at their sensors for a given putative neural source configuration. While early generations modeled the head as a simple set of isotropic spheres, today s ubiquitous magnetic resonance imaging (MRI) data allows detailed descriptions of head compartments with assigned isotropic and anisotropic conductivities. In this paper, we present a complete pipeline, integrated into the Brainstorm software, that allows users to generate an individual and accurate head model from the MRI and then calculate the electromagnetic forward solution using the finite element method (FEM). The head model generation is performed by the integration of the latest tools for MRI segmentation and FEM mesh generation. The final head model is divided into five main compartments: white matter, grey matter, CSF, skull, and scalp. For the isotropic compartments, widely-used default conductivity values are assigned. For the brain tissues, we use the process of the effective medium approach (EMA) to estimate anisotropic conductivity tensors from diffusion-weighted imaging (DWI) data. The FEM electromagnetic calculations are performed by the DUNEuro library, integrated into Brainstorm and accessible with a user-friendly graphical interface. This integrated pipeline, with full tutorials and example data sets freely available on the Brainstorm website, gives the neuroscience community easy access to advanced tools for electromagnetic modeling using FEM.
Improving RNN transducer with normalized jointer network

Recurrent neural transducer (RNN-T) is a promising end-to-end (E2E) model in automatic speech recognition (ASR). It has shown superior performance compared to traditional hybrid ASR systems. However, training RNN-T from scratch is still challenging. We observe a huge gradient variance during RNN-T training and suspect it hurts the performance. In this work, we analyze the cause of the huge gradient variance in RNN-T training and proposed a new \textit{normalized jointer network} to overcome it. We also propose to enhance the RNN-T network with a modified conformer encoder network and transformer-XL predictor networks to achieve the best performance. Experiments are conducted on the open 170-hour AISHELL-1 and industrial-level 30000-hour mandarin speech dataset. On the AISHELL-1 dataset, our RNN-T system gets state-of-the-art results on AISHELL-1's streaming and non-streaming benchmark with CER 6.15\% and 5.37\% respectively. We further compare our RNN-T system with our well trained commercial hybrid system on 30000-hour-industry audio data and get 9\% relative improvement without pre-training or external language model.
Cholesterol Dependence of Vascular ERK1/2 Activation and Growth in Response to Stretch

Objective— Stretch-induced growth of the vascular wall plays a role in hypertension and neointima formation. Its signal pathways involve integrins, cytoskeleton, membrane receptors, and ion channels, some of which are organized in cholesterol-rich, membrane domains such as lipid rafts or caveolae. This study tested the role of rafts/caveolae in stretch-induced vascular growth by manipulation of membrane cholesterol contents. Methods and Results— Growth and protein synthesis were induced by mechanical stretch of rat portal veins in vitro. Sucrose gradient centrifugation showed stretch-induced tyrosine phosphorylation primarily in fractions containing caveolin-1. Disruption of membrane caveolae with use of methyl-β-cyclodextrin (mβcd) reduced weight gain, protein synthesis, and DNA synthesis to levels in unstretched, control veins. These effects were partially reversed by restoration of cellular cholesterol contents. Inhibited growth was associated with abolished activation of extracellular signal–regulated.
Support estimation in high-dimensional heteroscedastic mean regression

A current strand of research in high-dimensional statistics deals with robustifying the available methodology with respect to deviations from the pervasive light-tail assumptions. In this paper we consider a linear mean regression model with random design and potentially heteroscedastic, heavy-tailed errors, and investigate support estimation in this framework. We use a strictly convex, smooth variant of the Huber loss function with tuning parameter depending on the parameters of the problem, as well as the adaptive LASSO penalty for computational efficiency. For the resulting estimator we show sign-consistency and optimal rates of convergence in the $\ell_\infty$ norm as in the homoscedastic, light-tailed setting. In our analysis, we have to deal with the issue that the support of the target parameter in the linear mean regression model and its robustified version may differ substantially even for small values of the tuning parameter of the Huber loss function. Simulations illustrate the favorable numerical performance of the proposed methodology.
Recyclable Waste Identification Using CNN Image Recognition and Gaussian Clustering

Waste recycling is an important way of saving energy and materials in the production process. In general cases recyclable objects are mixed with unrecyclable objects, which raises a need for identification and classification. This paper proposes a convolutional neural network (CNN) model to complete both tasks. The model uses transfer learning from a pretrained Resnet-50 CNN to complete feature extraction. A subsequent fully connected layer for classification was trained on the augmented TrashNet dataset [1]. In the application, sliding-window is used for image segmentation in the pre-classification stage. In the post-classification stage, the labelled sample points are integrated with Gaussian Clustering to locate the object. The resulting model has achieved an overall detection rate of 48.4% in simulation and final classification accuracy of 92.4%.
New Results for Pearson Type III Family of Distributions and Application in Wireless Power Transfer

The Pearson type III and the log Pearson type III distributions have been considered in several scientific fields, as in hydrology and seismology. In this article, we present new results for these distributions and we utilize them, for the first time in the literature, to investigate the statistical behavior of wireless power transfer, which can prolong the lifetime of Internet of Things networks, considering the nonlinear relationship between the received and harvested power, which can be precisely modeled by using the logistic function. Specifically, we present new closed-form expressions for the statistical properties of a general form of the Pearson type III and the log Pearson type III distributions and we utilize them to introduce a new member of the Pearson type III family, the logit Pearson type III distribution, through which the logit gamma and the logit exponential distributions are also defined. Moreover, we derive closed-form expressions for the probability density function, the cumulative distribution function and moments of the distributions of the sum, the log sum, and the logit sum of Pearson type III random variables. Furthermore, taking into account that the Pearson type III family of distributions is closely related to the considered nonlinear energy harvesting model the statistical properties of the distribution of the harvested power are derived, for both single input single output and multiple input single output scenarios with or without channel state information at the transmitter.
Episodic Linear Quadratic Regulators with Low-rank Transitions

Linear Quadratic Regulators (LQR) achieve enormous successful real-world applications. Very recently, people have been focusing on efficient learning algorithms for LQRs when their dynamics are unknown. Existing results effectively learn to control the unknown system using number of episodes depending polynomially on the system parameters, including the ambient dimension of the states. These traditional approaches, however, become inefficient in common scenarios, e.g., when the states are high-resolution images. In this paper, we propose an algorithm that utilizes the intrinsic system low-rank structure for efficient learning. For problems of rank-$m$, our algorithm achieves a $K$-episode regret bound of order $\widetilde{O}(m^{3/2} K^{1/2})$. Consequently, the sample complexity of our algorithm only depends on the rank, $m$, rather than the ambient dimension, $d$, which can be orders-of-magnitude larger.
A Laser-based Dual-arm System for Precise Control of Collaborative Robots

Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day operations entail various sources of errors that despite being small rapidly accumulate. This happens as tasks change and robots are re-programmed, often requiring time-consuming calibrations. These aspects strongly limit the application of collaborative robots in tasks demanding high precision (e.g. watch-making). We address this problem by relying on a dual-arm system with laser-based sensing to measure relative poses between objects of interest and compensate for pose errors coming from robot proprioception. Our approach leverages previous knowledge of object 3D models in combination with point cloud registration to efficiently extract relevant poses and compute corrective trajectories. This results in high-precision assembly behaviors. The approach is validated in a needle threading experiment, with a 150μm thread and a 300μm hole, and a USB insertion task using two 7-axis Panda robots.
Proca-stinated cosmology. Part II. Matter, halo, and lensing statistics in the vector Galileon

The generalised Proca (GP) theory is a modified gravity model in which the acceleration of the cosmic expansion rate can be explained by self interactions of a cosmological vector field. In this paper we study a particular sub-class of the GP theory, with up to cubic order Lagrangian, known as the cubic vector Galileon (cvG) model. This model is similar to the cubic scalar Galileon (csG) in many aspects, including a fifth force and the Vainshtein screening mechanism, but with the additional flexibility that the strength of the fifth force depends on an extra parameter — interpolating between zero and the full strength of the csG model — while the background expansion history is independent of this parameter. It offers an interesting alternative to ΛCDM in explaining the cosmic acceleration, as well as a solution to the tension between early- and late-time measurements of the Hubble constant H 0. To identify the best ways to test this model, in this paper we conduct a comprehensive study of the phenomenology of this model in the nonlinear regime of large-scale structure formation, using a suite of N-body simulations run with the modified gravity code ECOSMOG. By inspecting thirteen statistics of the dark matter field, dark matter haloes and weak lensing maps, we find that the fifth force in this model can have particularly significant effects on the large-scale velocity field and lensing potential at late times, which suggest that redshift-space distortions and weak lensing can place strong constraints on it.
Cosmic rays, neutrinos, and GeV-TeV gamma rays from starburst galaxy NGC 4945

The detection of high-energy astrophysical neutrinos and ultra-high-energy cosmic rays (UHECRs) provides a new way to explore the sources of cosmic rays. One of the highest energy neutrino events detected by IceCube, tagged as IC35, is close to the UHECRs anisotropy region detected by Pierre Auger Observatory. Recently, Pierre Auger collaboration showed that nearby starburst galaxies (SBGs) could reproduce the UHECR signal's morphology with a $\rm 4 \sigma$ confidence level. The nearby SBG, NGC 4945, is close to this anisotropic region and inside the mean angular error of the IC35 event. We consider a hypernova located in the SB region of NGC 4945, which can accelerate protons up to $\sim 10^{17} \, \rm eV$ and inject them into the interstellar medium. We show that the interaction of these protons with the gas density of the SB region can explain Fermi-LAT gamma-ray observations. Our estimated PeV neutrino events, in ten years, for this source is approximately 0.32, which shows that IC35 is not produced in the central region of this SBG. Finally, we consider the superwind region of NGC 4945 and show that cosmic-ray protons cannot be accelerated in it up to UHEs. Therefore, in our scenario, NGC 4945 contribution to the UHECRs is negligible.
Sampling and Recovery of Graph Signals based on Graph Neural Networks

We propose interpretable graph neural networks for sampling and recovery of graph signals, respectively. To take informative measurements, we propose a new graph neural sampling module, which aims to select those vertices that maximally express their corresponding neighborhoods. Such expressiveness can be quantified by the mutual information between vertices' features and neighborhoods' features, which are estimated via a graph neural network. To reconstruct an original graph signal from the sampled measurements, we propose a graph neural recovery module based on the algorithm-unrolling technique. Compared to previous analytical sampling and recovery, the proposed methods are able to flexibly learn a variety of graph signal models from data by leveraging the learning ability of neural networks; compared to previous neural-network-based sampling and recovery, the proposed methods are designed through exploiting specific graph properties and provide interpretability. We further design a new multiscale graph neural network, which is a trainable multiscale graph filter bank and can handle various graph-related learning tasks. The multiscale network leverages the proposed graph neural sampling and recovery modules to achieve multiscale representations of a graph. In the experiments, we illustrate the effects of the proposed graph neural sampling and recovery modules and find that the modules can flexibly adapt to various graph structures and graph signals. In the task of active-sampling-based semi-supervised learning, the graph neural sampling module improves the classification accuracy over 10% in Cora dataset. We further validate the proposed multiscale graph neural network on several standard datasets for both vertex and graph classification. The results show that our method consistently improves the classification accuracies.