变化自动编码器（VAE）最近已用于对复杂密度分布的无监督分离学习。存在许多变体，以鼓励潜在空间中的分解，同时改善重建。但是，在达到极低的重建误差和高度分离得分之间，没有人同时管理权衡。我们提出了一个普遍的框架，可以在有限的优化下应对这一挑战，并证明它在平衡重建时，它优于现有模型的最先进模型。我们介绍了三个可控的拉格朗日超级参数，以控制重建损失，KL差异损失和相关度量。我们证明，重建网络中的信息最大化等于在合理假设和约束放松下摊销过程中的信息最大化。

Non-parametric tests can determine the better of two stochastic optimization algorithms when benchmarking results are ordinal, like the final fitness values of multiple trials. For many benchmarks, however, a trial can also terminate once it reaches a pre-specified target value. When only some trials reach the target value, two variables characterize a trial's outcome: the time it takes to reach the target value (or not) and its final fitness value. This paper describes a simple way to impose linear order on this two-variable trial data set so that traditional non-parametric methods can determine the better algorithm when neither dominates. We illustrate the method with the Mann-Whitney U-test. A simulation demonstrates that U-scores are much more effective than dominance when tasked with identifying the better of two algorithms. We test U-scores by having them determine the winners of the CEC 2022 Special Session and Competition on Real-Parameter Numerical Optimization.

We extend best-subset selection to linear Multi-Task Learning (MTL), where a set of linear models are jointly trained on a collection of datasets (``tasks''). Allowing the regression coefficients of tasks to have different sparsity patterns (i.e., different supports), we propose a modeling framework for MTL that encourages models to share information across tasks, for a given covariate, through separately 1) shrinking the coefficient supports together, and/or 2) shrinking the coefficient values together. This allows models to borrow strength during variable selection even when the coefficient values differ markedly between tasks. We express our modeling framework as a Mixed-Integer Program, and propose efficient and scalable algorithms based on block coordinate descent and combinatorial local search. We show our estimator achieves statistically optimal prediction rates. Importantly, our theory characterizes how our estimator leverages the shared support information across tasks to achieve better variable selection performance. We evaluate the performance of our method in simulations and two biology applications. Our proposed approaches outperform other sparse MTL methods in variable selection and prediction accuracy. Interestingly, penalties that shrink the supports together often outperform penalties that shrink the coefficient values together. We will release an R package implementing our methods.

Weakly-supervised learning (WSL) has been proposed to alleviate the conflict between data annotation cost and model performance through employing sparsely-grained (i.e., point-, box-, scribble-wise) supervision and has shown promising performance, particularly in the image segmentation field. However, it is still a very challenging problem due to the limited supervision, especially when only a small number of labeled samples are available. Additionally, almost all existing WSL segmentation methods are designed for star-convex structures which are very different from curvilinear structures such as vessels and nerves. In this paper, we propose a novel sparsely annotated segmentation framework for curvilinear structures, named YoloCurvSeg, based on image synthesis. A background generator delivers image backgrounds that closely match real distributions through inpainting dilated skeletons. The extracted backgrounds are then combined with randomly emulated curves generated by a Space Colonization Algorithm-based foreground generator and through a multilayer patch-wise contrastive learning synthesizer. In this way, a synthetic dataset with both images and curve segmentation labels is obtained, at the cost of only one or a few noisy skeleton annotations. Finally, a segmenter is trained with the generated dataset and possibly an unlabeled dataset. The proposed YoloCurvSeg is evaluated on four publicly available datasets (OCTA500, CORN, DRIVE and CHASEDB1) and the results show that YoloCurvSeg outperforms state-of-the-art WSL segmentation methods by large margins. With only one noisy skeleton annotation (respectively 0.14%, 0.02%, 1.4%, and 0.65% of the full annotation), YoloCurvSeg achieves more than 97% of the fully-supervised performance on each dataset. Code and datasets will be released at https://github.com/llmir/YoloCurvSeg.

To build general robotic agents that can operate in many environments, it is often imperative for the robot to collect experience in the real world. However, this is often not feasible due to safety, time, and hardware restrictions. We thus propose leveraging the next best thing as real-world experience: internet videos of humans using their hands. Visual priors, such as visual features, are often learned from videos, but we believe that more information from videos can be utilized as a stronger prior. We build a learning algorithm, VideoDex, that leverages visual, action, and physical priors from human video datasets to guide robot behavior. These actions and physical priors in the neural network dictate the typical human behavior for a particular robot task. We test our approach on a robot arm and dexterous hand-based system and show strong results on various manipulation tasks, outperforming various state-of-the-art methods. Videos at https://video-dex.github.io

We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation of the SLAM problem as an incrementally growing factor graph, facilitated by the use of the GTSAM library and the iSAM2 engine. By combining sensor fusion with orbital motion priors, we achieve improved performance over a baseline SLAM solution. We incorporate orbital motion constraints into the factor graph by devising a novel relative dynamics factor, which links the relative pose of the spacecraft to the problem of predicting trajectories stemming from the motion of the spacecraft in the vicinity of the small body. We demonstrate the excellent performance of AstroSLAM using both real legacy mission imagery and trajectory data courtesy of NASA's Planetary Data System, as well as real in-lab imagery data generated on a 3 degree-of-freedom spacecraft simulator test-bed.

Commonsense knowledge-graphs (CKGs) are important resources towards building machines that can 'reason' on text or environmental inputs and make inferences beyond perception. While current CKGs encode world knowledge for a large number of concepts and have been effectively utilized for incorporating commonsense in neural models, they primarily encode declarative or single-condition inferential knowledge and assume all conceptual beliefs to have the same likelihood. Further, these CKGs utilize a limited set of relations shared across concepts and lack a coherent knowledge organization structure resulting in redundancies as well as sparsity across the larger knowledge graph. Consequently, today's CKGs, while useful for a first level of reasoning, do not adequately capture deeper human-level commonsense inferences which can be more nuanced and influenced by multiple contextual or situational factors. Accordingly, in this work, we study how commonsense knowledge can be better represented by -- (i) utilizing a probabilistic logic representation scheme to model composite inferential knowledge and represent conceptual beliefs with varying likelihoods, and (ii) incorporating a hierarchical conceptual ontology to identify salient concept-relevant relations and organize beliefs at different conceptual levels. Our resulting knowledge representation framework can encode a wider variety of world knowledge and represent beliefs flexibly using grounded concepts as well as free-text phrases. As a result, the framework can be utilized as both a traditional free-text knowledge graph and a grounded logic-based inference system more suitable for neuro-symbolic applications. We describe how we extend the PrimeNet knowledge base with our framework through crowd-sourcing and expert-annotation, and demonstrate its application for more interpretable passage-based semantic parsing and question answering.

This study concerns the formulation and application of Bayesian optimal experimental design to symbolic discovery, which is the inference from observational data of predictive models taking general functional forms. We apply constrained first-order methods to optimize an appropriate selection criterion, using Hamiltonian Monte Carlo to sample from the prior. A step for computing the predictive distribution, involving convolution, is computed via either numerical integration, or via fast transform methods.

Automated identification of myocardial scar from late gadolinium enhancement cardiac magnetic resonance images (LGE-CMR) is limited by image noise and artifacts such as those related to motion and partial volume effect. This paper presents a novel joint deep learning (JDL) framework that improves such tasks by utilizing simultaneously learned myocardium segmentations to eliminate negative effects from non-region-of-interest areas. In contrast to previous approaches treating scar detection and myocardium segmentation as separate or parallel tasks, our proposed method introduces a message passing module where the information of myocardium segmentation is directly passed to guide scar detectors. This newly designed network will efficiently exploit joint information from the two related tasks and use all available sources of myocardium segmentation to benefit scar identification. We demonstrate the effectiveness of JDL on LGE-CMR images for automated left ventricular (LV) scar detection, with great potential to improve risk prediction in patients with both ischemic and non-ischemic heart disease and to improve response rates to cardiac resynchronization therapy (CRT) for heart failure patients. Experimental results show that our proposed approach outperforms multiple state-of-the-art methods, including commonly used two-step segmentation-classification networks, and multitask learning schemes where subtasks are indirectly interacted.

The selection of an optimal pacing site, which is ideally scar-free and late activated, is critical to the response of cardiac resynchronization therapy (CRT). Despite the success of current approaches formulating the detection of such late mechanical activation (LMA) regions as a problem of activation time regression, their accuracy remains unsatisfactory, particularly in cases where myocardial scar exists. To address this issue, this paper introduces a multi-task deep learning framework that simultaneously estimates LMA amount and classify the scar-free LMA regions based on cine displacement encoding with stimulated echoes (DENSE) magnetic resonance imaging (MRI). With a newly introduced auxiliary LMA region classification sub-network, our proposed model shows more robustness to the complex pattern cause by myocardial scar, significantly eliminates their negative effects in LMA detection, and in turn improves the performance of scar classification. To evaluate the effectiveness of our method, we tests our model on real cardiac MR images and compare the predicted LMA with the state-of-the-art approaches. It shows that our approach achieves substantially increased accuracy. In addition, we employ the gradient-weighted class activation mapping (Grad-CAM) to visualize the feature maps learned by all methods. Experimental results suggest that our proposed model better recognizes the LMA region pattern.