Hi-Val: Iterative Learning of Hierarchical Value Functions for Policy Generation

Task decomposition is effective in manifold applications where the global complexity of a problem makes planning and decision-making too demanding. This is true, for example, in high-dimensional robotics domains, where (1) unpredictabilities and modeling limitations typically prevent the manual specification of robust behaviors, and (2) learning an action policy is challenging due to the curse of dimensionality. In this work, we borrow the concept of Hierarchical Task Networks (HTNs) to decompose the learning procedure, and we exploit Upper Confidence Tree (UCT) search to introduce HOP, a novel iterative algorithm for hierarchical optimistic planning with learned value functions. To obtain better generalization and generate policies, HOP simultaneously learns and uses action values. These are used to formalize constraints within the search space and to reduce the dimensionality of the problem. We evaluate our algorithm both on a fetching task using a simulated 7-DOF KUKA light weight arm and, on a pick and delivery task with a Pioneer robot

The effect of occupational-related low back pain on the functional activities among manual workers in construction companies

INTRODUCTION: Low back pain is the most prevalent musculoskeletal condition and one of the most common causes of disability in the world. The disability resulting from low back pain continues to plague the construction industry leading to absenteeism and early retirement among construction manual workers. PURPOSE: The aim of the review was to explore global literature concerning the effect of occupational-related low back pain on the functional activities among manual workers in construction companies. METHOD: A retrospective search of articles published from January 2000 to April 2010. The following electronic data bases, Google Scholar, Academic search premier, CINAHL, ERIC, Health source-consumer Edition, Health source: Nursing/Academic Edition, Master FILE Premier, MEDLINE, MLA Directory of Periodicals, Science direct, MLA International Bibliography, Pre-CiNAHL and PubMed were individually searched using specifically developed search strategies. Methodological quality was evaluated using the Critical Appraisal Skills Programme (CASP) tool and was done by two independent reviewers. RESULTS: The search yielded eleven articles of sound quality. There is evidence that a high percentage of construction workers suffer permanent disability and fail to return to work forcing them to go into early retirement due to occupational related low back pain. The cohort studies have shown that poor performance, reduction in productivity, restrictions on usual activity and participation and incurring high medical costs all pose a challenge to construction manual workers and their employers as a result of occupational related low back. CONCLUSION: The findings support that occupational related low back pain is a challenge among construction manual workers causing serious disability. Further well designed research in Africa into the most effective strategies to prevent and manage occupational related low back pain among construction manual workers is needed

Application of a single-objective, hybrid genetic algorithm approach to pharmacokinetic model building.

A limitation in traditional stepwise population pharmacokinetic model building is the difficulty in handling interactions between model components. To address this issue, a method was previously introduced which couples NONMEM parameter estimation and model fitness evaluation to a single-objective, hybrid genetic algorithm for global optimization of the model structure. In this study, the generalizability of this approach for pharmacokinetic model building is evaluated by comparing (1) correct and spurious covariate relationships in a simulated dataset resulting from automated stepwise covariate modeling, Lasso methods, and single-objective hybrid genetic algorithm approaches to covariate identification and (2) information criteria values, model structures, convergence, and model parameter values resulting from manual stepwise versus single-objective, hybrid genetic algorithm approaches to model building for seven compounds. Both manual stepwise and single-objective, hybrid genetic algorithm approaches to model building were applied, blinded to the results of the other approach, for selection of the compartment structure as well as inclusion and model form of inter-individual and inter-occasion variability, residual error, and covariates from a common set of model options. For the simulated dataset, stepwise covariate modeling identified three of four true covariates and two spurious covariates; Lasso identified two of four true and 0 spurious covariates; and the single-objective, hybrid genetic algorithm identified three of four true covariates and one spurious covariate. For the clinical datasets, the Akaike information criterion was a median of 22.3 points lower (range of 470.5 point decrease to 0.1 point decrease) for the best single-objective hybrid genetic-algorithm candidate model versus the final manual stepwise model: the Akaike information criterion was lower by greater than 10 points for four compounds and differed by less than 10 points for three compounds. The root mean squared error and absolute mean prediction error of the best single-objective hybrid genetic algorithm candidates were a median of 0.2 points higher (range of 38.9 point decrease to 27.3 point increase) and 0.02 points lower (range of 0.98 point decrease to 0.74 point increase), respectively, than that of the final stepwise models. In addition, the best single-objective, hybrid genetic algorithm candidate models had successful convergence and covariance steps for each compound, used the same compartment structure as the manual stepwise approach for 6 of 7 (86 %) compounds, and identified 54 % (7 of 13) of covariates included by the manual stepwise approach and 16 covariate relationships not included by manual stepwise models. The model parameter values between the final manual stepwise and best single-objective, hybrid genetic algorithm models differed by a median of 26.7 % (q₁ = 4.9 % and q₃ = 57.1 %). Finally, the single-objective, hybrid genetic algorithm approach was able to identify models capable of estimating absorption rate parameters for four compounds that the manual stepwise approach did not identify. The single-objective, hybrid genetic algorithm represents a general pharmacokinetic model building methodology whose ability to rapidly search the feasible solution space leads to nearly equivalent or superior model fits to pharmacokinetic data

SSHNN: Semi-Supervised Hybrid NAS Network for Echocardiographic Image Segmentation

Accurate medical image segmentation especially for echocardiographic images with unmissable noise requires elaborate network design. Compared with manual design, Neural Architecture Search (NAS) realizes better segmentation results due to larger search space and automatic optimization, but most of the existing methods are weak in layer-wise feature aggregation and adopt a ``strong encoder, weak decoder" structure, insufficient to handle global relationships and local details. To resolve these issues, we propose a novel semi-supervised hybrid NAS network for accurate medical image segmentation termed SSHNN. In SSHNN, we creatively use convolution operation in layer-wise feature fusion instead of normalized scalars to avoid losing details, making NAS a stronger encoder. Moreover, Transformers are introduced for the compensation of global context and U-shaped decoder is designed to efficiently connect global context with local features. Specifically, we implement a semi-supervised algorithm Mean-Teacher to overcome the limited volume problem of labeled medical image dataset. Extensive experiments on CAMUS echocardiography dataset demonstrate that SSHNN outperforms state-of-the-art approaches and realizes accurate segmentation. Code will be made publicly available.Comment: Submitted to ICASSP202

Developing an open data portal for the ESA climate change initiative

We introduce the rationale for, and architecture of, the European Space Agency Climate Change Initiative (CCI) Open Data Portal (http://cci.esa.int/data/). The Open Data Portal hosts a set of richly diverse datasets – 13 “Essential Climate Variables” – from the CCI programme in a consistent and harmonised form and to provides a single point of access for the (>100 TB) data for broad dissemination to an international user community. These data have been produced by a range of different institutions and vary across both scientific and spatio-temporal characteristics. This heterogeneity of the data together with the range of services to be supported presented significant technical challenges. An iterative development methodology was key to tackling these challenges: the system developed exploits a workflow which takes data that conforms to the CCI data specification, ingests it into a managed archive and uses both manual and automatically generated metadata to support data discovery, browse, and delivery services. It utilises both Earth System Grid Federation (ESGF) data nodes and the Open Geospatial Consortium Catalogue Service for the Web (OGC-CSW) interface, serving data into both the ESGF and the Global Earth Observation System of Systems (GEOSS). A key part of the system is a new vocabulary server, populated with CCI specific terms and relationships which integrates OGC-CSW and ESGF search services together, developed as part of a dialogue between domain scientists and linked data specialists. These services have enabled the development of a unified user interface for graphical search and visualisation – the CCI Open Data Portal Web Presence

Perturbation strength and the global structure of qap fitness landscapes

We study the effect of increasing the perturbation strength on the global structure of QAP fitness landscapes induced by Iterated Local Search (ILS). The global structure is captured with Local Optima Networks. Our analysis concentrates on the number, characteristics and distribution of funnels in the landscape, and how they change with increasing perturbation strengths. Well-known QAP instance types are considered. Our results confirm the multi-funnel structure of QAP fitness landscapes and clearly explain, visually and quantitatively, why ILS with large perturbation strengths produces better results. Moreover, we found striking differences between randomly generated and real-world instances, which warns about using synthetic benchmarks for (manual or automatic) algorithm design and tuning