Crossover-SGD: A gossip-based communication in distributed deep learning for alleviating large mini-batch problem and enhancing scalability

Distributed deep learning is an effective way to reduce the training time of deep learning for large datasets as well as complex models. However, the limited scalability caused by network overheads makes it difficult to synchronize the parameters of all workers. To resolve this problem, gossip-based methods that demonstrates stable scalability regardless of the number of workers have been proposed. However, to use gossip-based methods in general cases, the validation accuracy for a large mini-batch needs to be verified. To verify this, we first empirically study the characteristics of gossip methods in a large mini-batch problem and observe that the gossip methods preserve higher validation accuracy than AllReduce-SGD(Stochastic Gradient Descent) when the number of batch sizes is increased and the number of workers is fixed. However, the delayed parameter propagation of the gossip-based models decreases validation accuracy in large node scales. To cope with this problem, we propose Crossover-SGD that alleviates the delay propagation of weight parameters via segment-wise communication and load balancing random network topology. We also adapt hierarchical communication to limit the number of workers in gossip-based communication methods. To validate the effectiveness of our proposed method, we conduct empirical experiments and observe that our Crossover-SGD shows higher node scalability than SGP(Stochastic Gradient Push).Comment: Under review as a journal paper at CCP

Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination

Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to fall in cluttered environments, where manual recovery by a human operator may not always be feasible. Several recent studies have presented recovery controllers employing deep reinforcement learning algorithms. However, these controllers are not specifically designed to operate effectively in cluttered environments, such as stairs and slopes, which restricts their applicability. In this study, we propose a robust all-terrain recovery policy to facilitate rapid and secure recovery in cluttered environments. We substantiate the superiority of our proposed approach through simulations and real-world tests encompassing various terrain types.Comment: RSS 2023 Workshop on Experiment-oriented Locomotion and Manipulation Researc

A Filter-Mediated Communication Model for Design Collaboration in Building Construction

Multidisciplinary collaboration is an important aspect of modern engineering activities, arising from the growing complexity of artifacts whose design and construction require knowledge and skills that exceed the capacities of any one professional. However, current collaboration in the architecture, engineering, and construction industries often fails due to lack of shared understanding between different participants and limitations of their supporting tools. To achieve a high level of shared understanding, this study proposes a filter-mediated communication model. In the proposed model, participants retain their own data in the form most appropriate for their needs with domain-specific filters that transform the neutral representations into semantically rich ones, as needed by the participants. Conversely, the filters can translate semantically rich, domain-specific data into a neutral representation that can be accessed by other domain-specific filters. To validate the feasibility of the proposed model, we computationally implement the filter mechanism and apply it to a hypothetical test case. The result acknowledges that the filter mechanism can let the participants know ahead of time what will be the implications of their proposed actions, as seen from other participants’ points of view

Postbiotic heat-killed lactobacilli modulates on body weight associated with gut microbiota in a pig model

For decades, Lactobacillus has been extensively used as beneficial probiotics because it positively effects on the intestinal health of the host and has been studying its possible serve to treat obesity as well as various diseases. This research aimed to investigate the effects of heat-killed Ligilactobacillus salivarius strain 189 (HK LS 189) supplementation on anti-obesity and gut microbiota. A total of 48 pigs were fed either a basal diet or a diet supplemented with HK LS 189 for 4 weeks. The impact of HK LS 189 supplementation on the composition and function of the intestinal microbiota was revealed by 16 S rRNA gene sequencing. HK LS 189 supplementation significantly decreased growth performance. Moreover, HK LS 189 supplementation altered the gut microbiota of the pigs by decreasing the proportion of Prevotella and increasing the proportion of Parabacteroides. Beta-diversity analysis showed a significant difference between the two groups. The results support the potential use of HK LS 189 for its anti-obesity effect in pigs through modulation of the gut microbiota. Furthermore, we found changes in the functional pathways of the gut microbiota. The functional pathway study indicated that metabolism and lipid metabolism differed between the two groups. Our data may contribute to understanding the potential use of postbiotic supplementation with HK LS 189 for improving the anti-obesity effects.This research was supported by a National Research Foundation of Korea Grant, funded by the Korean government (MEST) (NRF-2021R1A2C3011051) and by the support of “Cooperative Research Program for Agriculture Science and Technology Development (Project No. PJ0158652021)” Rural Development Administration, Republic of Korea

Reversible switching of leukemic cells to a drug-resistant, stem-like subset via IL-4-mediated cross-talk with mesenchymal stroma

Chemoresistance of leukemic cells has largely been attributed to clonal evolution secondary to accumulating mutations. Here, we show that a subset of leukemic blasts in contact with the mesenchymal stroma undergo cellular conversion into a distinct cell type that exhibits a stem cell-like phenotype and chemoresistance. These stroma-induced changes occur in a reversible and stochastic manner driven by cross-talk, whereby stromal contact induces interleukin-4 in leukemic cells that in turn targets the mesenchymal stroma to facilitate the development of new subset. This mechanism was dependent on interleukin-4-mediated upregulation of vascular cell adhesion molecule- 1 in mesenchymal stroma, causing tight adherence of leukemic cells to mesenchymal progenitors for generation of new subsets. Together, our study reveals another class of chemoresistance in leukemic blasts via functional evolution through stromal cross-talk, and demonstrates dynamic switching of leukemic cell fates that could cause a non-homologous response to chemotherapy in concert with the patient-specific microenvironment

Effects of driving style and bedding in pigs transported to slaughterhouse in different temperatures

Animal welfare during transport became an largely issue because of increasing demand for improved animal welfare standards. Most studies on the animal welfare during transportation have concentrated on the atmosphere and the temperature of the truck compartments. Thus, the objective of study was to collect and quantify three axis acceleration and determine the effect of bedding for transporting pigs from farm to slaughterhouse. A total of 2,840 crossbred fattening pigs with a live weight of approximately 115 kg were used. They were raised in the same commercial farms and transported to the same commercial slaughterhouse. A 3×2×2 completely randomized factorial design was used to investigate effects of rubber type bedding (bedding or non-bedding) and two levels of driving style (aggressive or normal) in three different time periods with different outside temperatures. Air temperature treatments were as follow: high temperature ([HT] higher than 24°C); low temperature ([LT] lower than 10°C); normal temperature ([NT] 10°C to 24°C). In our experiment, pigs transported under aggressive driving style showed lower (p < 0.05) pH and water holding capacity (WHC) than those transported under normal driving style. Pigs transported under normal driving style showed a lower percentage of drip loss (DL) (p < 0.05) than those transported with an aggressive driving style. Also, transported with bedding showed higher (p < 0.05) lying behavior but lower (p < 0.05) sitting behavior than those transported without bedding. Pigs transported under normal driving style showed lower (p < 0.05) cortisol level than those transported under aggressive driving style. In conclusion, aggressive driving style cause acute stress in pigs, while bedding helps alleviate acute stress in pigs during transportation in LT

Cross-Regulation between Oncogenic BRAFV600E Kinase and the MST1 Pathway in Papillary Thyroid Carcinoma

BACKGROUND:The BRAF(V600E) mutation leading to constitutive signaling of MEK-ERK pathways causes papillary thyroid cancer (PTC). Ras association domain family 1A (RASSF1A), which is an important regulator of MST1 tumor suppressor pathways, is inactivated by hypermethylation of its promoter region in 20 to 32% of PTC. However, in PTC without RASSF1A methylation, the regulatory mechanisms of RASSF1A-MST1 pathways remain to be elucidated, and the functional cooperation or cross regulation between BRAF(V600E) and MST1,which activates Foxo3,has not been investigated. METHODOLOGY/PRINCIPAL FINDINGS:The negative regulators of the cell cycle, p21 and p27, are strongly induced by transcriptional activation of FoxO3 in BRAF(V600E) positive thyroid cancer cells. The FoxO3 transactivation is augmented by RASSF1A and the MST1 signaling pathway. Interestingly, introduction of BRAF(V600E)markedly abolished FoxO3 transactivation and resulted in the suppression of p21 and p27 expression. The suppression of FoxO3 transactivation by BRAF(V600E)is strongly increased by coexpression of MST1 but it is not observed in the cells in which MST1, but not MST2,is silenced. Mechanistically, BRAF(V600E)was able to bind to the C-terminal region of MST1 and resulted in the suppression of MST1 kinase activities. The induction of the G1-checkpoint CDK inhibitors, p21 and p27,by the RASSF1A-MST1-FoxO3 pathway facilitates cellular apoptosis, whereas addition of BRAF(V600E) inhibits the apoptotic processes through the inactivation of MST1. Transgenic induction of BRAF(V600E)in the thyroid gland results in cancers resembling human papillary thyroid cancers. The development of BRAF(V600E)transgenic mice with the MST1 knockout background showed that these mice had abundant foci of poorly differentiated carcinomas and large areas without follicular architecture or colloid formation. CONCLUSIONS/SIGNIFICANCE:The results of this study revealed that the oncogenic effect of BRAF(V600E) is associated with the inhibition of MST1 tumor suppressor pathways, and that the activity of RASSF1A-MST1-FoxO3 pathways determines the phenotypes of BRAF(V600E) tumors

Open X-Embodiment:Robotic learning datasets and RT-X models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io

Evaluation of Citizen–Student Cooperative Urban Planning and Design Experience in Higher Education

The purpose of this study is to explore the implementation and evaluation of cooperative education, which is emphasized as a means of developed citizen participation in the areas of urban planning and design, and to present implications by analyzing and discussing the results thereof. To this end, this study observed three cooperative education classes in which general citizens and students participated to learn how to cooperate planning processes for fostering experts in relevant fields in higher education courses. Additionally, the study established a research model through multiple educational performances and monitoring to review participants’ opinions. The results were quantitatively and qualitatively analyzed based on a questionnaire, and the methodology was compliant with prior research. The analysis demonstrated statistical differences in communication between students and citizens going through the same curriculum, as well as differences in the satisfaction of the two groups. Citizens and students found difficulties in coordinating opinions and reaching a consensus with counterparties. Nevertheless, all the participants expressed satisfaction over their collaboration to produce the results and ensured that related attempts were continuously made thereafter. Based on these results, this study proposed methods to enhance cooperative education for citizens in the future

Evaluation of Citizen–Student Cooperative Urban Planning and Design Experience in Higher Education

The purpose of this study is to explore the implementation and evaluation of cooperative education, which is emphasized as a means of developed citizen participation in the areas of urban planning and design, and to present implications by analyzing and discussing the results thereof. To this end, this study observed three cooperative education classes in which general citizens and students participated to learn how to cooperate planning processes for fostering experts in relevant fields in higher education courses. Additionally, the study established a research model through multiple educational performances and monitoring to review participants’ opinions. The results were quantitatively and qualitatively analyzed based on a questionnaire, and the methodology was compliant with prior research. The analysis demonstrated statistical differences in communication between students and citizens going through the same curriculum, as well as differences in the satisfaction of the two groups. Citizens and students found difficulties in coordinating opinions and reaching a consensus with counterparties. Nevertheless, all the participants expressed satisfaction over their collaboration to produce the results and ensured that related attempts were continuously made thereafter. Based on these results, this study proposed methods to enhance cooperative education for citizens in the future