Efficient collision avoidance for autonomous vehicles in polygonal domains

This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating explicit collision avoidance constraints. We present three novel, exact formulations to describe collision constraints. The first formulation is derived from a proposition concerning the separation of a point and a convex set. We prove the separating proposition through De Morgan's laws. Then, leveraging the hyperplane separation theorem we propose two efficient reformulations. Compared with the existing dual formulations and the first formulation, they significantly reduce the number of auxiliary variables to be optimized and inequality constraints within the nonlinear programming problem. Finally, the efficacy of the proposed formulations is demonstrated in the context of typical autonomous parking scenarios compared with state of the art. For generality, we design three initial guesses to assess the computational effort required for convergence to solutions when using the different collision formulations. The results illustrate that the scheme employing De Morgan's laws performs equally well with those utilizing dual formulations, while the other two schemes based on hyperplane separation theorem exhibit the added benefit of requiring lower computational resources.Comment: 10 pages,2 figure

On the Universal Approximation Property and Equivalence of Stochastic Computing-based Neural Networks and Binary Neural Networks

Large-scale deep neural networks are both memory intensive and computation-intensive, thereby posing stringent requirements on the computing platforms. Hardware accelerations of deep neural networks have been extensively investigated in both industry and academia. Specific forms of binary neural networks (BNNs) and stochastic computing based neural networks (SCNNs) are particularly appealing to hardware implementations since they can be implemented almost entirely with binary operations. Despite the obvious advantages in hardware implementation, these approximate computing techniques are questioned by researchers in terms of accuracy and universal applicability. Also it is important to understand the relative pros and cons of SCNNs and BNNs in theory and in actual hardware implementations. In order to address these concerns, in this paper we prove that the "ideal" SCNNs and BNNs satisfy the universal approximation property with probability 1 (due to the stochastic behavior). The proof is conducted by first proving the property for SCNNs from the strong law of large numbers, and then using SCNNs as a "bridge" to prove for BNNs. Based on the universal approximation property, we further prove that SCNNs and BNNs exhibit the same energy complexity. In other words, they have the same asymptotic energy consumption with the growing of network size. We also provide a detailed analysis of the pros and cons of SCNNs and BNNs for hardware implementations and conclude that SCNNs are more suitable for hardware.Comment: 9 pages, 3 figure

Memory Load Influences Taste Sensitivities

Previous literature reports have demonstrated that taste perception would be influenced by different internal brain status or external environment stimulation. Although there are different hypotheses about the cross-modal interactive process, it still remains unclear as of how the brain modulates and processes taste perception, particularly with different memory load. Here in this study we address this question. To do so we assign the participants different memory loads in the form of varying lengths of alphanumerical items, before tasting different concentrations of sweet or bitter tastants. After tasting they were asked to recall the alphanumerical items they were assigned. Our results show that the memory load reduces sweet and bitter taste sensitivities, from sub-threshold level to high concentration. Higher the memory load, less is the taste sensitivity. The study has extended our previous results and supports our previous hypothesis that the cognitive status, such as the general stress of memory load, influences sensory perception

Gene-associated Disease Discovery Powered by Large Language Models

The intricate relationship between genetic variation and human diseases has been a focal point of medical research, evidenced by the identification of risk genes regarding specific diseases. The advent of advanced genome sequencing techniques has significantly improved the efficiency and cost-effectiveness of detecting these genetic markers, playing a crucial role in disease diagnosis and forming the basis for clinical decision-making and early risk assessment. To overcome the limitations of existing databases that record disease-gene associations from existing literature, which often lack real-time updates, we propose a novel framework employing Large Language Models (LLMs) for the discovery of diseases associated with specific genes. This framework aims to automate the labor-intensive process of sifting through medical literature for evidence linking genetic variations to diseases, thereby enhancing the efficiency of disease identification. Our approach involves using LLMs to conduct literature searches, summarize relevant findings, and pinpoint diseases related to specific genes. This paper details the development and application of our LLM-powered framework, demonstrating its potential in streamlining the complex process of literature retrieval and summarization to identify diseases associated with specific genetic variations.Comment: This is the official paper accepted by AAAI 2024 Workshop on Large Language Models for Biological Discoverie

R&B: Region and Boundary Aware Zero-shot Grounded Text-to-image Generation

Recent text-to-image (T2I) diffusion models have achieved remarkable progress in generating high-quality images given text-prompts as input. However, these models fail to convey appropriate spatial composition specified by a layout instruction. In this work, we probe into zero-shot grounded T2I generation with diffusion models, that is, generating images corresponding to the input layout information without training auxiliary modules or finetuning diffusion models. We propose a Region and Boundary (R&B) aware cross-attention guidance approach that gradually modulates the attention maps of diffusion model during generative process, and assists the model to synthesize images (1) with high fidelity, (2) highly compatible with textual input, and (3) interpreting layout instructions accurately. Specifically, we leverage the discrete sampling to bridge the gap between consecutive attention maps and discrete layout constraints, and design a region-aware loss to refine the generative layout during diffusion process. We further propose a boundary-aware loss to strengthen object discriminability within the corresponding regions. Experimental results show that our method outperforms existing state-of-the-art zero-shot grounded T2I generation methods by a large margin both qualitatively and quantitatively on several benchmarks.Comment: Preprint. Under review. Project page: https://sagileo.github.io/Region-and-Boundar