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Parallel Planning:A New Motion Planning Framework for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

Automated Diagnosis of Cardiovascular Diseases from Cardiac Magnetic Resonance Imaging Using Deep Learning Models: A Review

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arXiv 2022年

作者： Jafari, Mahboobeh Shoeibi, Afshin Khodatars, Marjane Ghassemi, Navid Moridian, Parisa Delfan, Niloufar Alizadehsani, Roohallah Khosravi, Abbas Ling, Sai Ho Zhang, Yu-Dong Wang, Shui-Hua Gorriz, Juan M. Rokny, Hamid Alinejad Acharya, U. Rajendra Internship in BioMedical Machine Learning Lab The Graduate School of Biomedical Engineering UNSW Sydney SydneyNSW2052 Australia Data Science and Computational Intelligence Institute University of Granada Spain Department of Medical Engineering Mashhad Branch Islamic Azad University Mashhad Iran Faculty of Computer Engineering Dept. of Artificial Intelligence Engineering K. N. Toosi University of Technology Tehran Iran Deakin University VIC3217 Australia Australia School of Computing and Mathematical Sciences University of Leicester Leicester United Kingdom Department of Psychiatry University of Cambridge United Kingdom BioMedical Machine Learning Lab The Graduate School of Biomedical Engineering UNSW Sydney SydneyNSW2052 Australia UNSW Data Science Hub The University of New South Wales SydneyNSW2052 Australia Research Centre Macquarie University Sydney2109 Australia Ngee Ann Polytechnic Singapore599489 Singapore Dept. of Biomedical Informatics and Medical Engineering Asia University Taichung Taiwan Dept. of Biomedical Engineering School of Science and Technology Singapore University of Social Sciences Singapore

In recent years, cardiovascular diseases (CVDs) have become one of the leading causes of mortality globally. CVDs appear with minor symptoms and progressively get worse. The majority of people experience symptoms such as exhaustion, shortness of breath, ankle swelling, fluid retention, and other symptoms when starting CVD. Coronary artery disease (CAD), arrhythmia, cardiomyopathy, congenital heart defect (CHD), mitral regurgitation, and angina are the most common CVDs. Clinical methods such as blood tests, electrocardiography (ECG) signals, and medical imaging are the most effective methods used for the detection of CVDs. Among the diagnostic methods, cardiac magnetic resonance imaging (CMR) is increasingly used to diagnose, monitor the disease, plan treatment and predict CVDs. Coupled with all the advantages of CMR data, CVDs diagnosis is challenging for physicians due to many slices of data, low contrast, etc. To address these issues, deep learning (DL) techniques have been employed to the diagnosis of CVDs using CMR data, and much research is currently being conducted in this field. This review provides an overview of the studies performed in CVDs detection using CMR images and DL techniques. The introduction section examined CVDs types, diagnostic methods, and the most important medical imaging techniques. In the following, investigations to detect CVDs using CMR images and the most significant DL methods are presented. Another section discussed the challenges in diagnosing CVDs from CMR data. Next, the discussion section discusses the results of this review, and future work in CVDs diagnosis from CMR images and DL techniques are outlined. The most important findings of this study are presented in the conclusion section. © 2022, CC BY-NC-ND.

关键词： Electrocardiography

Differentiable Programming for Differential Equations: A Review

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arXiv 2024年

作者： Sapienza, Facundo Bolibar, Jordi Schäfer, Frank Groenke, Brian Pal, Avik Boussange, Victor Heimbach, Patrick Hooker, Giles Pérez, Fernando Persson, Per-Olof Rackauckas, Christopher Department of Statistics University of California Berkeley United States Univ. Grenoble Alpes CNRS IRD G-INP Institut des Géosciences de l’Environnement Grenoble France TU Delft Department of Geosciences and Civil Engineering Delft Netherlands CSAIL Massachusetts Institute of Technology Cambridge United States TU Berlin Department of Electrical and Computer Engineering Berlin Germany Helmholtz Centre for Environmental Research Leipzig Germany Swiss Federal Research Institute WSL Birmensdorf Switzerland Oden Institute for Computational Engineering and Sciences University of Texas Austin United States Jackson School of Geosciences University of Texas Austin United States Department of Statistics and Data Science University of Pennsylvania United States Department of Mathematics University of California Berkeley United States Massachusetts Institute of Technology Cambridge United States JuliaHub Cambridge United States

The differentiable programming paradigm is a cornerstone of modern scientific computing. It refers to numerical methods for computing the gradient of a numerical model’s output. Many scientific models are based on differential equations, where differentiable programming plays a crucial role in calculating model sensitivities, inverting model parameters, and training hybrid models that combine differential equations with data-driven approaches. Furthermore, recognizing the strong synergies between inverse methods and machine learning offers the opportunity to establish a coherent framework applicable to both fields. Differentiating functions based on the numerical solution of differential equations is nontrivial. Numerous methods based on a wide variety of paradigms have been proposed in the literature, each with pros and cons specific to the type of problem investigated. Here, we provide a comprehensive review of existing techniques to compute derivatives of numerical solutions of differential equations. We first discuss the importance of gradients of solutions of differential equations in a variety of scientific domains. Second, we lay out the mathematical foundations of the various approaches and compare them with each other. Third, we cover the computational considerations and explore the solutions available in modern scientific software. Last but not least, we provide best-practices and recommendations for practitioners. We hope that this work accelerates the fusion of scientific models and data, and fosters a modern approach to scientific *** Codes 34-04, 49K40, 65D25, 65L09, 65M32, 86A22, 90C31 © 2024, CC BY.

关键词： Differential equations

Resilient to Byzantine Attacks Finite-Sum Optimization Over Networks

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Resilient to Byzantine Attacks Finite-Sum Optimization Over ...

IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Zhaoxian Wu Qing Ling Tianyi Chen Georgios B. Giannakis School of Data and Computer Science and Guangdong Province Key Laboratory of Computational Science Sun Yat-Sen University Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Department of Electrical and Computer Engineering and Digital Technology Center University of Minnesota

ISBN: (数字)9781509066315

ISBN: (纸本)9781509066322

This contribution deals with distributed finite-sum optimization for learning over networks in the presence of malicious Byzantine attacks. To cope with such attacks, resilient approaches so far combine stochastic gradient descent (SGD) with different robust aggregation rules. However, the sizeable SGD-induced gradient noise makes it challenging to distinguish malicious messages sent by the Byzantine attackers from noisy stochastic gradients sent by the friendly workers. This motivates gradient noise reduction as a means of robustifying SGD in the presence of Byzantine attacks. To this end, the present work puts forth a Byzantine attack resilient distributed (Byrd-) SAGA approach for learning tasks involving finite-sum optimization over networks. Rather than the mean employed by distributed SAGA, the novel Byrd-SAGA relies on the geometric median to aggregate the corrected stochastic gradients sent by the workers. When less than half of the workers are Byzantine attackers, the robustness of geometric median to outliers enables Byrd-SAGA to achieve provable linear convergence to a neighborhood of the optimal solution, where the size of neighborhood is determined by the number of Byzantine workers. Numerical tests demonstrate the robustness of Byrd-SAGA to various Byzantine attacks, as well as the merits of Byrd-SAGA over Byzantine-resilient SGD.

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GaNDLF-Synth: A Framework to Democratize Generative AI for (Bio)Medical Imaging

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arXiv 2024年

作者： Pati, Sarthak Mazurek, Szymon Bakas, Spyridon Division of Computational Pathology Department of Pathology and Laboratory Medicine Indiana University School of Medicine IndianapolisIN United States Center for Federated Learning Indiana University School of Medicine IndianapolisIN United States Medical Working Group MLCommons San FranciscoCA United States AGH University of Krakow Academic Computer Centre Cyfronet Krakow Poland Indiana University Melvin and Bren Simon Comprehensive Cancer Center IndianapolisIN United States Department of Radiology & Imaging Sciences Indiana University School of Medicine IndianapolisIN United States Department of Biostatistics & Health Data Science Indiana University School of Medicine IndianapolisIN United States Department of Neurological Surgery Indiana University School of Medicine IndianapolisIN United States Department of Computer Science Luddy School of Informatics Computing and Engineering Indiana University IndianapolisIN United States

Generative Artificial Intelligence (GenAI) is a field of AI that creates new data samples from existing ones. It utilizing deep learning to overcome the scarcity and regulatory constraints of healthcare data by generating new data points that integrate seamlessly with original datasets. This paper explores the background and motivation for GenAI, and introduces the Generally Nuanced Deep Learning Framework for Synthesis (GaNDLF-Synth) to address a significant gap in the literature and move towards democratizing the implementation and assessment of image synthesis tasks in healthcare. GaNDLF-Synth describes a unified abstraction for various synthesis algorithms, including autoencoders, generative adversarial networks, and diffusion models. Leveraging the GANDLF-core framework, it supports diverse data modalities and distributed computing, ensuring scalability and reproducibility through extensive unit testing. The aim of GaNDLF-Synth is to lower the entry barrier for GenAI, and make it more accessible and extensible by the wider scientific community. © 2024, CC BY.

关键词： Generative adversarial networks

${\sf DeepNC}$DeepNC: Deep Generative Network Completion

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2020年第4期44卷 1837-1852页

作者： Cong Tran Won-Yong Shin Andreas Spitz Michael Gertz Department of Computer Science and Engineering Dankook University Yongin Republic of Korea Machine Intelligence & Data Science Laboratory Yonsei University Seoul Republic of Korea School of Mathematics and Computing (Computational Science and Engineering) Yonsei University Seoul Republic of Korea School of Computer and Communication Sciences École Polytechnique Fédérale de Lausanne Lausanne Switzerland Institute of Computer Science Heidelberg University Heidelberg Germany

Most network data are collected from partially observable networks with both missing nodes and missing edges, for example, due to limited resources and privacy settings specified by users on social media. Thus, it stands to reason that inferring the missing parts of the networks by performing network completion should precede downstream applications. However, despite this need, the recovery of missing nodes and edges in such incomplete networks is an insufficiently explored problem due to the modeling difficulty, which is much more challenging than link prediction that only infers missing edges. In this paper, we present DeepNC, a novel method for inferring the missing parts of a network based on a deep generative model of graphs. Specifically, our method first learns a likelihood over edges via an autoregressive generative model, and then identifies the graph that maximizes the learned likelihood conditioned on the observable graph topology. Moreover, we propose a computationally efficient ${\sf DeepNC}$ algorithm that consecutively finds individual nodes that maximize the probability in each node generation step, as well as an enhanced version using the expectation-maximization algorithm. The runtime complexities of both algorithms are shown to be almost linear in the number of nodes in the network. We empirically demonstrate the superiority of DeepNC over state-of-the-art network completion approaches.

关键词： Matrix decomposition Prediction algorithms Deep learning Pattern analysis Social networking (online) Predictive models

A newton tracking algorithm with exact linear convergence rate for decentralized consensus optimization

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arXiv 2020年

作者： Zhang, Jiaojiao Ling, Qing So, Anthony Man-Cho Department of Systems Engineering and Engineering Management Chinese University of Hong Kong Hong Kong School of Data and Computer Science Guangdong Province Key Laboratory of Computational Science Sun Yat-Sen University China

This paper considers the decentralized consensus optimization problem defined over a network where each node holds a second-order differentiable local objective function. Our goal is to minimize the summation of local objective functions and find the exact optimal solution using only local computation and neighboring communication. We propose a novel Newton tracking algorithm, where each node updates its local variable along a local Newton direction modified with neighboring and historical information. We investigate the connections between the proposed Newton tracking algorithm and several existing methods, including gradient tracking and second-order algorithms. Under the strong convexity assumption, we prove that it converges to the exact optimal solution at a linear rate. Numerical experiments demonstrate the efficacy of Newton tracking and validate the theoretical findings. Copyright © 2020, The Authors. All rights reserved.

关键词： Optimal systems

Biases in inverse Ising estimates of near-critical behavior

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Physical Review E 2023年第1期108卷 014109-014109页

作者： Maximilian B. Kloucek Thomas Machon Shogo Kajimura C. Patrick Royall Naoki Masuda Francesco Turci School of Physics HH Wills Physics Laboratory University of Bristol Tyndall Avenue Bristol BS8 1TL United Kingdom Bristol Centre for Functional Nanomaterials HH Wills Physics Laboratory University of Bristol Tyndall Avenue Bristol BS8 1TL United Kingdom Faculty of Information and Human Sciences Kyoto Institute of Technology Kyoto 606-8585 Japan Gulliver UMR CNRS 7083 ESPCI Paris Université PSL 75005 Paris France Department of Mathematics State University of New York at Buffalo Buffalo New York 14260-2900 USA Computational and Data-Enabled Science and Engineering Program State University of New York at Buffalo Buffalo New York 14260-5030 USA

Inverse Ising inference allows pairwise interactions of complex binary systems to be reconstructed from empirical correlations. Typical estimators used for this inference, such as pseudo-likelihood maximization (PLM), are biased. Using the Sherrington-Kirkpatrick model as a benchmark, we show that these biases are large in critical regimes close to phase boundaries, and they may alter the qualitative interpretation of the inferred model. In particular, we show that the small-sample bias causes models inferred through PLM to appear closer to criticality than one would expect from the data. data-driven methods to correct this bias are explored and applied to a functional magnetic resonance imaging data set from neuroscience. Our results indicate that additional care should be taken when attributing criticality to real-world data sets.

关键词： Critical phenomena Cortical networks Spin glasses Functional magnetic resonance imaging Ising model

BRIDGE: Benchmarking Large Language Models for Understanding Real-world Clinical Practice Text

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arXiv 2025年

作者： Wu, Jiageng Gu, Bowen Zhou, Ren Xie, Kevin Snyder, Doug Jiang, Yixing Carducci, Valentina Wyss, Richard Desai, Rishi J. Alsentzer, Emily Celi, Leo Anthony Rodman, Adam Schneeweiss, Sebastian Chen, Jonathan H. Romero-Brufau, Santiago Lin, Kueiyu Joshua Yang, Jie Division of Pharmacoepidemiology and Pharmacoeconomics Department of Medicine Brigham and Women’s Hospital Harvard Medical School BostonMA United States Siebel School of Computing and Data Science The Grainger College of Engineering University of Illinois Urbana-Champaign UrbanaIL United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA United States Department of Otorhinolaryngology – Head & Neck Surgery Mayo Clinic RochesterMN United States Department of Biostatistics Harvard T.H. Chan School of Public Health Harvard University BostonMA United States Department of Biomedical Data Science Stanford University Palo AltoCA United States Laboratory for Computational Physiology Massachusetts Institute of Technology CambridgeMA United States Division of Pulmonary Critical Care and Sleep Medicine Beth Israel Deaconess Medical Center BostonMA United States Division of General Internal Medicine Department of Medicine Beth Israel Deaconess Medical Center BostonMA United States Stanford Center for Biomedical Informatics Research Stanford University StanfordCA United States Division of Hospital Medicine Stanford University StanfordCA United States Stanford Clinical Excellence Research Center Stanford University StanfordCA United States Kempner Institute for the Study of Natural and Artificial Intelligence Harvard University MA United States Broad Institute of MIT and Harvard CambridgeMA United States Harvard Data Science Initiative Harvard University CambridgeMA United States

Large language models (LLMs) hold great promise for medical applications and are evolving rapidly, with new models being released at an accelerated pace. However, current evaluations of LLMs in clinical contexts remain limited. Most existing benchmarks rely on medical exam-style questions or PubMed-derived text, failing to capture the complexity of real-world electronic health record (EHR) data. Others focus narrowly on specific application scenarios, limiting their generalizability across broader clinical use. To address this gap, we present BRIDGE, a comprehensive multilingual benchmark comprising 87 tasks sourced from real-world clinical data sources across nine languages. We systematically evaluated 52 state-of-the-art LLMs (including DeepSeek-R1, GPT-4o, Gemini, and Llama 4) under various inference strategies. With a total of 13,572 experiments, our results reveal substantial performance variation across model sizes, languages, natural language processing tasks, and clinical specialties. Notably, we demonstrate that open-source LLMs can achieve performance comparable to proprietary models, while medically fine-tuned LLMs based on older architectures often underperform versus updated general-purpose models. The BRIDGE and its corresponding leaderboard serve as a foundational resource and a unique reference for the development and evaluation of new LLMs in real-world clinical text understanding. © 2025, CC BY-NC-SA.

关键词： Electronic health record