UniDistill: A Universal Cross-Modality Knowledge Distillation Framework for 3D Object Detection in Bird's-Eye View

In the field of 3D object detection for autonomous driving, the sensor portfolio including multi-modality and single-modality is diverse and complex. Since the multi-modal methods have system complexity while the accuracy of single-modal ones is relatively low, how to make a tradeoff between them is difficult. In this work, we propose a universal cross-modality knowledge distillation framework (UniDistill) to improve the performance of single-modality detectors. Specifically, during training, UniDistill projects the features of both the teacher and the student detector into Bird's-Eye-View (BEV), which is a friendly representation for different modalities. Then, three distillation losses are calculated to sparsely align the foreground features, helping the student learn from the teacher without introducing additional cost during inference. Taking advantage of the similar detection paradigm of different detectors in BEV, UniDistill easily supports LiDAR-to-camera, camera-to-LiDAR, fusion-to-LiDAR and fusion-to-camera distillation paths. Furthermore, the three distillation losses can filter the effect of misaligned background information and balance between objects of different sizes, improving the distillation effectiveness. Extensive experiments on nuScenes demonstrate that UniDistill effectively improves the mAP and NDS of student detectors by 2.0%~3.2%

On Transforming Reinforcement Learning by Transformer: The Development Trajectory

Transformer, originally devised for natural language processing, has also attested significant success in computer vision. Thanks to its super expressive power, researchers are investigating ways to deploy transformers to reinforcement learning (RL) and the transformer-based models have manifested their potential in representative RL benchmarks. In this paper, we collect and dissect recent advances on transforming RL by transformer (transformer-based RL or TRL), in order to explore its development trajectory and future trend. We group existing developments in two categories: architecture enhancement and trajectory optimization, and examine the main applications of TRL in robotic manipulation, text-based games, navigation and autonomous driving. For architecture enhancement, these methods consider how to apply the powerful transformer structure to RL problems under the traditional RL framework, which model agents and environments much more precisely than deep RL methods, but they are still limited by the inherent defects of traditional RL algorithms, such as bootstrapping and "deadly triad". For trajectory optimization, these methods treat RL problems as sequence modeling and train a joint state-action model over entire trajectories under the behavior cloning framework, which are able to extract policies from static datasets and fully use the long-sequence modeling capability of the transformer. Given these advancements, extensions and challenges in TRL are reviewed and proposals about future direction are discussed. We hope that this survey can provide a detailed introduction to TRL and motivate future research in this rapidly developing field.Comment: 26 page

ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is desirable. While there are some pioneering works on LiDAR-based input or implicit design, in this paper we formulate the problem in an interpretable vision-based setting. In particular, we propose a spatial-temporal feature learning scheme towards a set of more representative features for perception, prediction and planning tasks simultaneously, which is called ST-P3. Specifically, an egocentric-aligned accumulation technique is proposed to preserve geometry information in 3D space before the bird's eye view transformation for perception; a dual pathway modeling is devised to take past motion variations into account for future prediction; a temporal-based refinement unit is introduced to compensate for recognizing vision-based elements for planning. To the best of our knowledge, we are the first to systematically investigate each part of an interpretable end-to-end vision-based autonomous driving system. We benchmark our approach against previous state-of-the-arts on both open-loop nuScenes dataset as well as closed-loop CARLA simulation. The results show the effectiveness of our method. Source code, model and protocol details are made publicly available at https://github.com/OpenPerceptionX/ST-P3.Comment: ECCV 202

The Forty-Sixth Euro Congress on Drug Synthesis and Analysis: Snapshot

The 46th EuroCongress on Drug Synthesis and Analysis (ECDSA-2017) was arranged within the celebration of the 65th Anniversary of the Faculty of Pharmacy at Comenius University in Bratislava, Slovakia from 5-8 September 2017 to get together specialists in medicinal chemistry, organic synthesis, pharmaceutical analysis, screening of bioactive compounds, pharmacology and drug formulations; promote the exchange of scientific results, methods and ideas; and encourage cooperation between researchers from all over the world. The topic of the conference, Drug Synthesis and Analysis, meant that the symposium welcomed all pharmacists and/or researchers (chemists, analysts, biologists) and students interested in scientific work dealing with investigations of biologically active compounds as potential drugs. The authors of this manuscript were plenary speakers and other participants of the symposium and members of their research teams. The following summary highlights the major points/topics of the meeting

Genome-wide association study of lung adenocarcinoma in East Asia and comparison with a European population

Lung adenocarcinoma is the most common type of lung cancer. Known risk variants explain only a small fraction of lung adenocarcinoma heritability. Here, we conducted a two-stage genome-wide association study of lung adenocarcinoma of East Asian ancestry (21,658 cases and 150,676 controls; 54.5% never-smokers) and identified 12 novel susceptibility variants, bringing the total number to 28 at 25 independent loci. Transcriptome-wide association analyses together with colocalization studies using a Taiwanese lung expression quantitative trait loci dataset (n = 115) identified novel candidate genes, including FADS1 at 11q12 and ELF5 at 11p13. In a multi-ancestry meta-analysis of East Asian and European studies, four loci were identified at 2p11, 4q32, 16q23, and 18q12. At the same time, most of our findings in East Asian populations showed no evidence of association in European populations. In our studies drawn from East Asian populations, a polygenic risk score based on the 25 loci had a stronger association in never-smokers vs. individuals with a history of smoking (P interaction  = 0.0058). These findings provide new insights into the etiology of lung adenocarcinoma in individuals from East Asian populations, which could be important in developing translational applications

Genome-wide association study of lung adenocarcinoma in East Asia and comparison with a European population.

Lung adenocarcinoma is the most common type of lung cancer. Known risk variants explain only a small fraction of lung adenocarcinoma heritability. Here, we conducted a two-stage genome-wide association study of lung adenocarcinoma of East Asian ancestry (21,658 cases and 150,676 controls; 54.5% never-smokers) and identified 12 novel susceptibility variants, bringing the total number to 28 at 25 independent loci. Transcriptome-wide association analyses together with colocalization studies using a Taiwanese lung expression quantitative trait loci dataset (n = 115) identified novel candidate genes, including FADS1 at 11q12 and ELF5 at 11p13. In a multi-ancestry meta-analysis of East Asian and European studies, four loci were identified at 2p11, 4q32, 16q23, and 18q12. At the same time, most of our findings in East Asian populations showed no evidence of association in European populations. In our studies drawn from East Asian populations, a polygenic risk score based on the 25 loci had a stronger association in never-smokers vs. individuals with a history of smoking (Pinteraction = 0.0058). These findings provide new insights into the etiology of lung adenocarcinoma in individuals from East Asian populations, which could be important in developing translational applications

Prompt-Tuning Decision Transformer with Preference Ranking

Prompt-tuning has emerged as a promising method for adapting pre-trained models to downstream tasks or aligning with human preferences. Prompt learning is widely used in NLP but has limited applicability to RL due to the complex physical meaning and environment-specific information contained within RL prompts. These factors require supervised learning to imitate the demonstrations and may result in a loss of meaning after learning. Additionally, directly extending prompt-tuning approaches to RL is challenging because RL prompts guide agent behavior based on environmental modeling and analysis, rather than filling in missing information, making it unlikely that adjustments to the prompt format for downstream tasks, as in NLP, can yield significant improvements. In this work, we propose the Prompt-Tuning DT algorithm to address these challenges by using trajectory segments as prompts to guide RL agents in acquiring environmental information and optimizing prompts via black-box tuning to enhance their ability to contain more relevant information, thereby enabling agents to make better decisions. Our approach involves randomly sampling a Gaussian distribution to fine-tune the elements of the prompt trajectory and using preference ranking function to find the optimization direction, thereby providing more informative prompts and guiding the agent towards specific preferences in the target environment. Extensive experiments show that with only 0.03% of the parameters learned, Prompt-Tuning DT achieves comparable or even better performance than full-model fine-tuning in low-data scenarios. Our work contributes to the advancement of prompt-tuning approaches in RL, providing a promising direction for optimizing large RL agents for specific preference tasks.Comment: 18 page

The fate and oxidative stress of different sized SiO2 nanoparticles in zebrafish (Danio rerio) larvae

Nanoparticle such as silicon dioxide nanoparticles (nano-SiO2) are extensively produced and applied in society. Hence there is an increasing concern about their exposure and toxicity to human and wildlife. To understand the effects of sizes of NPs on their bioavailability and toxicity, zebrafish (Danio rerio) embryos (2 h post-fertilization, hpf) were exposed to 25, 50 and 100 mg/L of 15 or 30 nm nano-SiO2 for 5 days respectively. The results showed that SiO2 could be readily uptaken by zebrafish, and the accumulation of SiO2 was significantly higher in 15 nm treatments groups compared to 30 nm nano-SiO2 treated groups. Furthermore, exposure to 15 nm nano-SiO2 at the concentration of 100 mg/L resulted in more significant changes in reactive oxygen species (ROS) levels, perturbation of lipid peroxidative and antioxidant system than the same concentration of 30 nm nano-SiO2, indicating small sized nano-SiO2 evoked severer oxidative stress in zebrafish larvae. In addition, the more significant up-regulation of transcription of genes related to oxidative stress (e.g., nrf2 and sod1) in 15 nm nano-SiO2 at the 100 mg/L treatments groups provided more evidence for this speculation. Given the above, 15 nm nano-SiO2 were more likely to enter and accumulate in zebrafish larvae, thus causing more serious oxidative stress in vivo. These results may provide additional information on the fate and toxicities of different sizes of NPs. (C) 2019 Elsevier Ltd. All rights reserved

Downregulation of CyclophilinA/CD147 Axis Induces Cell Apoptosis and Inhibits Glioma Aggressiveness

Gliomas are the most common primary tumors in the brain with poor prognosis. Previous studies have detected high expression of Cyclophilin A (CyPA) and CD147, respectively, in glioma. However, the correlation between their expressions and glioma prognosis remains unclear. Here, we investigated the expression of CyPA and CD147 in different types of glioma and characterized their relationships with clinical features, prognosis, and cell proliferation. Results showed that CyPA and CD147 expressions were elevated in higher grade gliomas. Moreover, the knockdown of CyPA and CD147 by RNA interference significantly induced cell express apoptosis biomarkers such as Annexin V and inhibited proliferation biomarkers like EdU in glioma cells. In summary, our findings revealed that high expression of CyPA and CD147 correlated with glioma grades. Moreover, downregulation of the Cyclophilin A/CD147 axis induces cell apoptosis and inhibits glioma aggressiveness. Those indicating CyPA and CD147 could be used as both potential predictive biomarkers and a potential therapeutic target

Sensing-Based Dynamic Spectrum Sharing in Integrated Wireless Sensor and Cognitive Satellite Terrestrial Networks

This paper presents a cognitive satellite communication based wireless sensor network, which combines the wireless sensor network and the cognitive satellite terrestrial network. To address the conflict between the continuously increasing demand and the spectrum scarcity in the space network, the cognitive satellite terrestrial network becomes a promising candidate for future hybrid wireless networks. With the higher transmit capacity demand in satellite networks, explicit concerns on efficient resource allocation in the cognitive network have gained more attention. In this background, we propose a sensing-based dynamic spectrum sharing scheme for the cognitive satellite user, which is able to maximize the ergodic capacity of the satellite user with the interference of the primary terrestrial user below an acceptable average level. Firstly, the cognitive satellite user monitors the channel allocated to the terrestrial user through the wireless sensor network; then, it adjusts the transmit power based on the sensing results. If a terrestrial user is busy, the satellite user can access the channel with constrained power to avoid deteriorating the communication quality of the terrestrial user. Otherwise, if the terrestrial user is idle, the satellite user allocates the transmit power based on its benefit to enhance the capacity. Since the sensing-based dynamic spectrum sharing optimization problem can be modified into a nonlinear fraction programming problem in perfect/imperfect sensing conditions, respectively, we solve them by the Lagrange duality method. Computer simulations have shown that, compared with the opportunistic spectrum access, the proposed method can increase the channel capacity more than 20 % for P a v = 10 dB in a perfect sensing scenario. In an imperfect sensing scenario, P a v = 15 dB and Q a v = 5 dB, the optimal sensing time achieving the highest ergodic capacity is about 2.34 ms when the frame duration is 10 ms