96 research outputs found
Improving Medical Dialogue Generation with Abstract Meaning Representations
Medical Dialogue Generation serves a critical role in telemedicine by facilitating the dissemination of medical expertise to patients. Existing studies focus on incorporating textual representations, which have limited their ability to represent the semantics of text, such as ignoring important medical entities. To enhance the model's understanding of the textual semantics and the medical knowledge including entities and relations, we introduce the use of Abstract Meaning Representations (AMR) to construct graphical representations that delineate the roles of language constituents and medical entities within the dialogues. In this paper, We propose a novel framework that models dialogues between patients and healthcare professionals using AMR graphs, where the neural networks incorporate textual and graphical knowledge with a dual attention mechanism. Experimental results show that our framework outperforms strong baseline models in medical dialogue generation, demonstrating the effectiveness of AMR graphs in enhancing the representations of medical knowledge and logical relationships. Furthermore, to support future research in this domain, we provide the corresponding source code at https://github.com/Bernard-Yang/MedDiaAMR
Improving Medical Dialogue Generation with Abstract Meaning Representations
Medical Dialogue Generation serves a critical role in telemedicine by
facilitating the dissemination of medical expertise to patients. Existing
studies focus on incorporating textual representations, which have limited
their ability to represent the semantics of text, such as ignoring important
medical entities. To enhance the model's understanding of the textual semantics
and the medical knowledge including entities and relations, we introduce the
use of Abstract Meaning Representations (AMR) to construct graphical
representations that delineate the roles of language constituents and medical
entities within the dialogues. In this paper, We propose a novel framework that
models dialogues between patients and healthcare professionals using AMR
graphs, where the neural networks incorporate textual and graphical knowledge
with a dual attention mechanism. Experimental results show that our framework
outperforms strong baseline models in medical dialogue generation,
demonstrating the effectiveness of AMR graphs in enhancing the representations
of medical knowledge and logical relationships. Furthermore, to support future
research in this domain, we provide the corresponding source code at
https://github.com/Bernard-Yang/MedDiaAMR.Comment: Submitted to ICASSP 202
Effective Distillation of Table-based Reasoning Ability from LLMs
Large Language Models (LLMs) have demonstrated remarkable performance across
a wide range of natural language processing tasks. However, their remarkable
parameter size and their impressive high requirement of computing resources
pose challenges for their practical deployment. Recent research has revealed
that specific capabilities of LLMs, such as numerical reasoning, can be
transferred to smaller models through distillation. Some studies explore the
potential of leveraging LLMs to perform table-based reasoning. Nevertheless,
prior to our work, there has been no investigation into the prospect of
specialising table reasoning skills in smaller models specifically tailored for
table-to-text generation tasks. In this paper, we propose a novel table-based
reasoning distillation, with the aim of distilling distilling LLMs into
tailored, smaller models specifically designed for table-based reasoning task.
Experimental results have shown that a 0.22 billion parameter model
(Flan-T5-base) fine-tuned using distilled data, not only achieves a significant
improvement compared to traditionally fine-tuned baselines but also surpasses
specific LLMs like gpt-3.5-turbo on the scientific table-to-text generation
dataset (SciGen). The code and data are released in
https://github.com/Bernard-Yang/TableDistill
Identification and profiling of microRNA between back and belly Skin in Rex rabbits (Oryctolagus cuniculus)
[EN] Skin is an important trait for Rex rabbits and skin development is influenced by many processes, including hair follicle cycling, keratinocyte differentiation and formation of coat colour and skin morphogenesis. We identified differentially expressed microRNAs (miRNAs) between the back and belly skin in Rex rabbits. In total, 211 miRNAs (90 upregulated miRNAs and 121 downregulated miRNAs) were identified with a |log2 (fold change)|>1 and P-value<0.05. Using target gene prediction for the miRNAs, differentially expressed predicted target genes were identified and the functional enrichment and signalling pathways of these target genes were processed to reveal their biological functions. A number of differentially expressed miRNAs were found to be involved in regulation of the cell cycle, skin epithelium differentiation, keratinocyte proliferation, hair follicle development and melanogenesis. In addition, target genes regulated by miRNAs play key roles in the activities of the Hedgehog signalling pathway, Wnt signalling pathway, Osteoclast differentiation and MAPK pathway, revealing mechanisms of skin development. Nine candidate miRNAs and 5 predicted target genes were selected for verification of their expression by quantitative reverse transcription polymerase chain reaction. A regulation network of miRNA and their target genes was constructed by analysing the GO enrichment and signalling pathways. Further studies should be carried out to validate the regulatory relationships between candidate miRNAs and their target genes.This study was supported by the Modern Agricultural Industrial System Special Funding (CARS-44-A-1), the Priority Academic Programme Development of Jiangsu Higher Education Institutions (2014-134) and the General Programme of Natural Science Foundation of the Higher Education Institutions of Jiangsu Province (16KJB230001).Zhao, B.; Chen, Y.; Mu, L.; Hu, S.; Wu, X. (2018). Identification and profiling of microRNA between back and belly Skin in Rex rabbits (Oryctolagus cuniculus). World Rabbit Science. 26(2):179-190. https://doi.org/10.4995/wrs.2018.7058SWORD179190262Adamidi C. 2008. Discovering microRNAs from deep sequencing data using miRDeep. Nature Biotechnol., 26: 407-415. https://doi.org/10.1038/nbt1394Adijanto J., Castorino J.J., Wang Z.X., Maminishkis A., Grunwald G.B., Philp N.J. 2012. Microphthalmia-associated transcription factor (MITF) promotes differentiation of human retinal pigment epithelium (RPE) by regulating microRNAs-204/211 expression. J. Biol. Chem., 287: 20491-https://doi.org/10.1074/jbc.M112.354761Ahmed M.I., Alam M., Emelianov V.U., Poterlowicz K., Patel A., Sharov A.A., Mardaryev A.N., Botchkareva N.V. 2014. MicroRNA-214 controls skin and hair follicle development by modulating the activity of the Wnt pathway. J. Cell Biol., 207: 549-567. https://doi.org/10.1083/jcb.201404001Alexander M., Kawahara G., Motohashi N., Casar J., Eisenberg I., Myers J., Gasperini M., Estrella E., Kho A., Mitsuhashi S. 2013. MicroRNA-199a is induced in dystrophic muscle and affects WNT signaling, cell proliferation, and myogenic differentiation. Cell Death Diff., 20: 1194-1208. https://doi.org/10.1038/cdd.2013.62Anders S. 2010. Analysing RNA-Seq data with the DESeq package. Mol. Biol., 43: 1-17.Andl T., Botchkareva N.V. 2015. MicroRNAs (miRNAs) in the control of HF development and cycling: the next frontiers in hair research. Exp. Dermatol., 24: 821-826. https://doi.org/10.1111/exd.12785Andl T., Reddy S.T., Gaddapara T., Millar S.E. 2002. WNT signals are required for the initiation of hair follicle development. Develop. Cell, 2: 643-653. https://doi.org/10.1016/S1534-5807(02)00167-3Antonini D., Russo MT., De Rosa L., Gorrese M., Del Vecchio L., Missero C. 2010. Transcriptional repression of miR-34 family contributes to p63-mediated cell cycle progression in epidermal cells. J. Invest. Dermatol., 130: 1249-1257. https://doi.org/10.1038/jid.2009.438Athar M., Tang X., Lee J.L., Kopelovich L., Kim AL. 2006. Hedgehog signalling in skin development and cancer. Exp. Dermatol., 15: 667-677. https://doi.org/10.1111/j.1600-0625.2006.00473.xBartel D.P. 2004. MicroRNAs: genomics, biogenesis, mechanism, and function. Cell, 116: 281-297.https://doi.org/10.1016/S0092-8674(04)00045-5Bashirullah A., Pasquinelli A.E., Kiger A.A., Perrimon N., Ruvkun G., Thummel C.S. 2003. Coordinate regulation of small temporal RNAs at the onset of Drosophila metamorphosis. Dev. Biol., 259: 1-8. https://doi.org/10.1016/S0012-1606(03)00063-0Bommer GT., Gerin I., Feng Y., Kaczorowski AJ., Kuick R., Love RE., Zhai Y., Giordano TJ., Qin ZS., Moore BB. 2007. p53-mediated activation of miRNA34 candidate tumor-suppressor genes. Curr. Biol., 17: 1298-1307. https://doi.org/10.1016/j.cub.2007.06.068Braun C.J., Zhang X., Savelyeva I., Wolff S., Moll U.M., Schepeler T., Ørntoft T.F., Andersen C.L., Dobbelstein M. 2008. p53-Responsive micrornas 192 and 215 are capable of inducing cell cycle arrest. Cancer Res., 68: 10094-10104.https://doi.org/10.1158/0008-5472.CAN-08-1569Callis T.E., Chen J.F., Wang D.Z. 2007. MicroRNAs in skeletal and cardiac muscle development. Dna Cell Biol., 26: 219-225. https://doi.org/10.1089/dna.2006.0556Caramuta S., Egyházi S., Rodolfo M., Witten D., Hansson J., Larsson C., Lui W.O. 2010. MicroRNA expression profiles associated with mutational status and survival in malignant melanoma. J. Invest. Dermatol., 130: 2062-2070. https://doi.org/10.1038/jid.2010.63Chen C.H., Sakai Y., Demay M.B. 2001. Targeting expression of the human vitamin D receptor to the keratinocytes of vitamin D receptor null mice prevents alopecia. Endocrinology, 142: 5386-5386. https://doi.org/10.1210/endo.142.12.8650D'Juan T.F., Shariat N., Park C.Y., Liu H.J., Mavropoulos A., McManus M.T. 2013. Partially penetrant postnatal lethality of an epithelial specific MicroRNA in a mouse knockout. Plos One 8: e76634. https://doi.org/10.1371/journal.pone.0076634DeYoung M.P., Johannessen C.M., Leong C.O., Faquin W., Rocco J.W., Ellisen L.W. 2006. Tumor-specific p73 up-regulation mediates p63 dependence in squamous cell carcinoma. Cancer Res., 66: 9362-9368. https://doi.org/10.1158/0008-5472.CAN-06-1619Eckert R.L., Welter J.F. 1996. Transcription factor regulation of epidermal keratinocyte gene expression. Mol. Biol. Rep., 23: 59-70. https://doi.org/10.1007/BF00357073Enright A.J., Bino J., Ulrike G., Thomas T., Chris S., Marks D.S. 2004. MicroRNA targets in Drosophila. Gen. Biol., 5: R1-R1. https://doi.org/10.1186/gb-2003-5-1-r1Fontanesi L., Scotti E., Allain D., Dall'Olio S. 2014. A frameshift mutation in the melanophilin gene causes the dilute coat colour in rabbit (Oryctolagus cuniculus) breeds. Anim. Genet., 45: 248-255. https://doi.org/10.1111/age.12104Fontanesi L., Vargiolu M., Scotti E., Latorre R., Pellegrini M.S.F., Mazzoni M., Asti M., Chiocchetti R., Romeo G., Clavenzani P. 2014. The KIT gene is associated with the English spotting coat color locus and congenital megacolon in Checkered Giant rabbits (Oryctolagus cuniculus). Plos One 9: e93750. https://doi.org/10.1371/journal.pone.0093750Fuchs E. 2007. Scratching the surface of skin development. Nature, 445: 834-842. https://doi.org/10.1038/nature05659Georges S.A., Chau B.N., Braun C.J., Zhang X., Dobbelstein M. 2009. Cell cycle arrest or apoptosis by p53: are microRNAs-192/215 and-34 making the decision? Cell Cycle 8: 677-682. https://doi.org/10.4161/cc.8.5.8076Jackson S.J., Zhang Z., Feng D., Flagg M., O'Loughlin E., Wang D., Stokes N., Fuchs E., Yi R. 2013. Rapid and widespread suppression of self-renewal by microRNA-203 during epidermal differentiation. Development, 140: 1882-1891. https://doi.org/10.1242/dev.089649Katoh Y., Katoh M. 2008. Hedgehog signaling, epithelial-tomesenchymal transition and miRNA (review). Int. J. Mol. Med., 22: 271-275. https://doi.org/10.3892/ijmm_00000019Kim K., Vinayagam A., Perrimon N. 2014. A rapid genomewide microRNA screen identifies miR-14 as a modulator of Hedgehog signaling. Cell Rep., 7: 2066-2077. https://doi.org/10.1016/j.celrep.2014.05.025Kochegarov A., Moses A., Lian W., Meyer J., Hanna M.C., Lemanski L.F. 2013. A new unique form of microRNA from human heart, microRNA-499c, promotes myofibril formation and rescues cardiac development in mutant axolotl embryos. J. Biomed. Sci., 20: 1. https://doi.org/10.1186/1423-0127-20-20Kozomara, A., Griffiths J. 2014. miRBase: annotating high confidence microRNAs using deep sequencing data. Nucleic Acids Res., 42: 68-73. https://doi.org/10.1093/nar/gkt1181Kureel J., Dixit M., Tyagi A., Mansoori M., Srivastava K., Raghuvanshi A., Maurya R., Trivedi R., Goel A., Singh D. 2014. miR-542-3p suppresses osteoblast cell proliferation and differentiation, targets BMP-7 signaling and inhibits bone formation. Cell Death Dis., 5: e1050. https://doi.org/10.1038/cddis.2014.4Langmead B., Salzberg S.L. 2012. Fast gapped-read alignment with Bowtie 2. Nat. Methods, 9: 357-359. https://doi.org/10.1038/nmeth.1923Lim X., Nusse R. 2013. Wnt signaling in skin development, homeostasis, and disease. CSH Perspect. Biol., 5: a008029. https://doi.org/10.1101/cshperspect.a008029Liu Z., Xiao H., Li H., Zhao Y., Lai S., Yu X., Cai T., Du C., Zhang W., Li J. 2012. Identification of conserved and novel microRNAs in cashmere goat skin by deep sequencing. Plos One 7: e50001. https://doi.org/10.1371/journal.pone.0050001Mardaryev A.N., Ahmed M.I., Vlahov N.V., Fessing M.Y., Gill J.H., Sharov A.A., Botchkareva N.V. 2010. Micro-RNA-31 controls hair cycle-associated changes in gene expression programs of the skin and hair follicle. FASEB J. 24: 3869-3881. https://doi.org/10.1096/fj.10-160663Mills A.A., Zheng B., Wang X.J., Vogel H., Roop D.R., Bradley A. 1999. p63 is a p53 homologue required for limb and epidermal morphogenesis. Nature, 398: 708-713. https://doi.org/10.1038/19531Mueller D.W., Rehli M., Bosserhoff A.K. 2009. miRNA expression profiling in melanocytes and melanoma cell lines reveals miRNAs associated with formation and progression of malignant melanoma. J. Invest. Dermatol., 129: 1740-1751. https://doi.org/10.1038/jid.2008.452Naeem H., Küffner R., Csaba G., Zimmer R. 2010. miRSel: Automated extraction of associations between microRNAs and genes from the biomedical literature. Bmc Bioinformatics, 11: 135. https://doi.org/10.1186/1471-2105-11-135Neilson J.R., Zheng G.X., Burge CB., Sharp P.A. 2007. Dynamic regulation of miRNA expression in ordered stages of cellular development. Gene. Dev., 21: 578-589. https://doi.org/10.1101/gad.1522907Oda Y., Ishikawa M.H., Hawker N.P., Yun Q.C., Bikle D.D. 2007. Differential role of two VDR coactivators, DRIP205 and SRC-3, in keratinocyte proliferation and differentiation. J. Steroid Biochem., 103: 776-780. https://doi.org/10.1016/j.jsbmb.2006.12.069Pan L., Liu Y., Wei Q., Xiao C., Ji Q., Bao G., Wu X. 2015. Solexa-Sequencing Based Transcriptome Study of Plaice Skin Phenotype in Rex Rabbits (Oryctolagus cuniculus). Plos One: 10. https://doi.org/10.1371/journal.pone.0124583Rosenfield R.L., Deplewski D., Greene M.E. 2001. Peroxisome proliferator-activated receptors and skin development. Horm. Res. Paediat., 54: 269-274. https://doi.org/10.1159/000053270Schneider M.R. 2012. MicroRNAs as novel players in skin development, homeostasis and disease. Brit. J. Dermatol., 166: 22-28. https://doi.org/10.1111/j.1365-2133.2011.10568.xSenoo M., Pinto F., Crum C.P., McKeon F. 2007. p63 Is essential for the proliferative potential of stem cells in stratified epithelia. Cell, 129: 523-536. https://doi.org/10.1016/j.cell.2007.02.045Song B., Wang Y., Kudo K., Gavin E.J., Xi Y., Ju J. 2008. miR-192 Regulates dihydrofolate reductase and cellular proliferation through the p53-microRNA circuit. Clin. Cancer Res., 14: 8080-8086. https://doi.org/10.1158/1078-0432.CCR-08-1422Suh K.S., Mutoh M., Mutoh T., Li L., Ryscavage A., Crutchley J.M., Dumont R.A., Cheng C., Yuspa S.H. 2007. CLIC4 mediates and is required for Ca2+-induced keratinocyte differentiation. J. Cell Sci., 120: 2631-2640. https://doi.org/10.1242/jcs.002741Tao Y. 2010. Studies on the quality of rex rabbit fur. World Rabbit Sci., 2: 21-24. https://doi.org/10.4995/wrs.1994.213Tian X., Jiang J., Fan R., Wang H., Meng X., He X., He J., Li H., Geng J., Yu X. 2012. Identification and characterization of microRNAs in white and brown alpaca skin. BMC genomics 13: 1.https://doi.org/10.1186/1471-2164-13-555Vadlakonda L., Pasupuleti M., Pallu R. 2014. Role of PI3K-AKTmTOR and Wnt signaling pathways in transition of G1-S phase of cell cycle in cancer cells. Front. Oncol., 3: 85. https://doi.org/10.3389/fonc.2013.00085van Amerongen R., Fuerer C., Mizutani M., Nusse R. 2012. Wnt5a can both activate and repress Wnt/β-catenin signaling during mouse embryonic development. Dev. Biol., 369: 101-114. https://doi.org/10.1016/j.ydbio.2012.06.020Vousden K.H., Lane D.P. 2007. p53 in health and disease. Nat. Rev. Mol. Cell Biol., 8: 275-283. https://doi.org/10.1038/nrm2147Wang P., Li Y., Hong W., Zhen J., Ren J., Li Z., Xu A. 2012. The changes of microRNA expression profiles and tyrosinase related proteins in MITF knocked down melanocytes. Mol. BioSyst., 8: 2924-2931. https://doi.org/10.1039/c2mb25228gWhelan J.T., Hollis S.E., Cha D.S., Asch A.S., Lee M.H. 2012. Post‐transcriptional regulation of the Ras‐ERK/MAPK signaling pathway. J. Cell Physiol., 227: 1235-1241. https://doi.org/10.1002/jcp.22899Xia H., Ooi L.L.P.J., Hui K.M. 2013. MicroRNA-216a/217-induced epithelial-mesenchymal transition targets PTEN and SMAD7 to promote drug resistance and recurrence of liver cancer. Hepatology, 58: 629-641. https://doi.org/10.1002/hep.26369Yang A., Schweitzer R., Sun D., Kaghad M., Walker N., Bronson R.T., Tabin C., Sharpe A., Caput D., Crum C. 1999. p63 is essential for regenerative proliferation in limb, craniofacial and epithelial development. Nature, 398: 714-718. https://doi.org/10.1038/19539Yu J., Peng H., Ruan Q., Fatima A., Getsios S., Lavker R.M. 2010. MicroRNA-205 promotes keratinocyte migration via the lipid phosphatase SHIP2. FASEB J. 24: 3950-3959. https://doi.org/10.1096/fj.10-157404Yu J., Ryan D.G., Getsios S., Oliveira-Fernandes M., Fatima A., Lavker R.M. 2008. MicroRNA-184 antagonizes microRNA-205 to maintain SHIP2 levels in epithelia. In Proc.: National Academy of Sciences 105: 19300-19305. https://doi.org/10.1073/pnas.0803992105Zhang L., Nie Q., Su Y., Xie X., Luo W., Jia X., Zhang X. 2013. MicroRNA profile analysis on duck feather follicle and skin with high-throughput sequencing technology. Gene, 519: 77-81. https://doi.org/10.1016/j.gene.2013.01.043Zhao Y., Wang P., Meng J., Ji Y., Xu D., Chen T., Fan R., Yu X., Yao J., Dong C. 2015. MicroRNA-27a-3p Inhibits Melanogenesis in Mouse Skin Melanocytes by Targeting Wnt3a. Int. J. Mol. Sci., 16: 10921-10933. https://doi.org/10.3390/ijms16051092
Effective Distillation of Table-based Reasoning Ability from LLMs
Large Language Models (LLMs) have demonstrated remarkable performance across a wide range of natural language processing tasks. However, their enormous parameter size and extremely high requirements for compute power pose challenges for their practical deployment. Recent research has revealed that specific capabilities of LLMs, such as numerical reasoning, can be transferred to smaller models through distillation. Some studies explore the potential of leveraging LLMs to perform table-based reasoning. However, there has been no prior work focusing on table reasoning skills in smaller models specifically tailored for scientific table-to-text generation tasks. In this paper, we propose a novel table-based reasoning distillation approach, with the aim of distilling LLMs into tailored smaller models. Our experimental results have shown that a 220 million parameter model (Flan-T5-base) fine-tuned using distilled data, not only achieves a significant improvement compared to traditionally fine-tuned baselines, but also surpasses specific LLMs on a scientific table-to-text generation dataset. Our code is available at https://github.com/Bernard-Yang/DistillTableCoT
Effective Room-Temperature Ammonia-Sensitive Composite Sensor Based on Graphene Nanoplates and PANI
The graphene nanoplate (GN)-polyaniline (PANI) composite was developed via in-situ polymerization method and simultaneously assembled on interdigital electrodes (IDEs) at low temperature for ammonia (NH3) detection. The assembled composite sensor showed excellent sensing performance toward different concentrations of NH3, 1.5 of response value and 123 s/204 s for the response/recovery time to 15 ppm NH3. Meanwhile, an interesting supersaturation phenomenon was observed at high concentration of NH3. A reasonable speculation was proposed for this special sensing behavior and the mechanism for enhanced sensing properties was also analyzed
Characterisation and functional analysis of the WIF1 gene and its role in hair follicle growth and development of the Angora rabbit
[EN] Growth and development of hair follicles (HF) is a complex and dynamic process in most mammals. As HF growth and development regulate rabbit wool yield, exploring the role of genes involved in HF growth and development may be relevant. In this study, the coding sequence of the Angora rabbit (Oryctolagus cuniculus) WIF1 gene was cloned. The length of the coding region sequence was found to be 1140 bp, which encodes 379 amino acids. Bioinformatics analysis indicated that the WIF1 protein was unstable, hydrophilic and located in the extracellular region, contained a putative signal peptide and exhibited a high homology in different mammals. Moreover, WIF1 was significantly downregulated in the high wool production in the Angora rabbit group. Overexpression and knockdown studies revealed that WIF1 regulates HF growth and development-related genes and proteins, such as LEF1 and CCND1. WIF1 activated β-catenin/TCF transcriptional activity, promoted cell apoptosis and inhibited cellular proliferation. These results indicate that WIF1 might be important for HF development. This study, therefore, provides a theoretical foundation for investigating WIF1 in HF growth and development.This research was funded by This research was funded by National Natural Science Foundation of China (Grant No. 32102529), China Agriculture Research System of MOF and MARA (CARS-43-A-1).Zhao, B.; Li, J.; Zhang, X.; Bao, Z.; Chen, Y.; Wu, X. (2022). Characterisation and functional analysis of the WIF1 gene and its role in hair follicle growth and development of the Angora rabbit. World Rabbit Science. 30(3):209-218. https://doi.org/10.4995/wrs.2022.1735320921830
Distributionally Robust Graph-based Recommendation System
With the capacity to capture high-order collaborative signals, Graph Neural
Networks (GNNs) have emerged as powerful methods in Recommender Systems (RS).
However, their efficacy often hinges on the assumption that training and
testing data share the same distribution (a.k.a. IID assumption), and exhibits
significant declines under distribution shifts. Distribution shifts commonly
arises in RS, often attributed to the dynamic nature of user preferences or
ubiquitous biases during data collection in RS. Despite its significance,
researches on GNN-based recommendation against distribution shift are still
sparse. To bridge this gap, we propose Distributionally Robust GNN (DR-GNN)
that incorporates Distributional Robust Optimization (DRO) into the GNN-based
recommendation. DR-GNN addresses two core challenges: 1) To enable DRO to cater
to graph data intertwined with GNN, we reinterpret GNN as a graph smoothing
regularizer, thereby facilitating the nuanced application of DRO; 2) Given the
typically sparse nature of recommendation data, which might impede robust
optimization, we introduce slight perturbations in the training distribution to
expand its support. Notably, while DR-GNN involves complex optimization, it can
be implemented easily and efficiently. Our extensive experiments validate the
effectiveness of DR-GNN against three typical distribution shifts. The code is
available at https://github.com/WANGBohaO-jpg/DR-GNN.Comment: Accepted by WWW202
Recommended from our members
Pulmonary neuroendocrine cells: Crucial players in respiratory function and airway-nerve communication
Pulmonary neuroendocrine cells (PNECs) are unique airway epithelial cells that blend neuronal and endocrine functions, acting as key sensors in the lung. They respond to environmental stimuli like allergens by releasing neuropeptides and neurotransmitters. PNECs stand out as the only lung epithelial cells innervated by neurons, suggesting a significant role in airway-nerve communication via direct neural pathways and hormone release. Pathological conditions such as asthma are linked to increased PNECs counts and elevated calcitonin gene-related peptide (CGRP) production, which may affect neuroprotection and brain function. CGRP is also associated with neurodegenerative diseases, including Parkinson’s and Alzheimer’s, potentially due to its influence on inflammation and cholinergic activity. Despite their low numbers, PNECs are crucial for a wide range of functions, highlighting the importance of further research. Advances in technology for producing and culturing human PNECs enable the exploration of new mechanisms and cell-specific responses to targeted therapies for PNEC-focused treatments
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
Ensuring safe, real-time motion planning in arbitrary environments requires a
robotic manipulator to avoid collisions, obey joint limits, and account for
uncertainties in the mass and inertia of objects and the robot itself. This
paper proposes Autonomous Robust Manipulation via Optimization with
Uncertainty-aware Reachability (ARMOUR), a provably-safe, receding-horizon
trajectory planner and tracking controller framework for robotic manipulators
to address these challenges. ARMOUR first constructs a robust controller that
tracks desired trajectories with bounded error despite uncertain dynamics.
ARMOUR then uses a novel recursive Newton-Euler method to compute all inputs
required to track any trajectory within a continuum of desired trajectories.
Finally, ARMOUR over-approximates the swept volume of the manipulator; this
enables one to formulate an optimization problem that can be solved in
real-time to synthesize provably-safe motions. This paper compares ARMOUR to
state of the art methods on a set of challenging manipulation examples in
simulation and demonstrates its ability to ensure safety on real hardware in
the presence of model uncertainty without sacrificing performance. Project
page: https://roahmlab.github.io/armour/.Comment: 20 pages, 6 figure
- …