Distributed Model Predictive Control for Heterogeneous Vehicle Platoon with Inter-Vehicular Spacing Constraints

This paper proposes a distributed control scheme for a platoon of heterogeneous vehicles based on the mechanism of model predictive control (MPC). The platoon composes of a group of vehicles interacting with each other via inter-vehicular spacing constraints, to avoid collision and reduce communication latency, and aims to make multiple vehicles driving on the same lane safely with a close range and the same velocity. Each vehicle is subject to both state constraints and input constraints, communicates only with neighboring vehicles, and may not know a priori desired setpoint. We divide the computation of control inputs into several local optimization problems based on each vehicle’s local information. To compute the control input of each vehicle based on local information, a distributed computing method must be adopted and thus the coupled constraint is required to be decoupled. This is achieved by introducing the reference state trajectories from neighboring vehicles for each vehicle and by employing the interactive structure of computing local problems of vehicles with odd indices and even indices. It is shown that the feasibility of MPC optimization problems is achieved at all time steps based on tailored terminal inequality constraints, and the asymptotic stability of each vehicle to the desired trajectory is guaranteed even under a single iteration between vehicles at each time. Finally, a comparison simulation is conducted to demonstrate the effectiveness of the proposed distributed MPC method for heterogeneous vehicle control with respect to normal and extreme scenarios

VMT-Adapter: Parameter-Efficient Transfer Learning for Multi-Task Dense Scene Understanding

Large-scale pre-trained models have achieved remarkable success in various computer vision tasks. A standard approach to leverage these models is to fine-tune all model parameters for downstream tasks, which poses challenges in terms of computational and storage costs. Recently, inspired by Natural Language Processing (NLP), parameter-efficient transfer learning has been successfully applied to vision tasks. However, most existing techniques primarily focus on single-task adaptation, and despite limited research on multi-task adaptation, these methods often exhibit suboptimal training and inference efficiency. In this paper, we first propose an once-for-all Vision Multi-Task Adapter (VMT-Adapter), which strikes approximately O(1) training and inference efficiency w.r.t task number. Concretely, VMT-Adapter shares the knowledge from multiple tasks to enhance cross-task interaction while preserves task-specific knowledge via independent knowledge extraction modules. Notably, since task-specific modules require few parameters, VMT-Adapter can handle an arbitrary number of tasks with a negligible increase of trainable parameters. We also propose VMT-Adapter-Lite, which further reduces the trainable parameters by learning shared parameters between down- and up-projections. Extensive experiments on four dense scene understanding tasks demonstrate the superiority of VMT-Adapter(-Lite), achieving a 3.96%(1.34%) relative improvement compared to single-task full fine-tuning, while utilizing merely ~1% (0.36%) trainable parameters of the pre-trained model.Comment: Accepted to AAAI202

Triangle Counting Rule: An Approach to Forecast the Magnetic Properties of Benzenoid Polycyclic Hydrocarbons

Open-shell benzenoid polycyclic hydrocarbons (BPHs) are promising materials for future quantum applications. However, the search and realization of open-shell BPHs with desired properties is a challenging task due to the gigantic chemical space of BPHs, requiring new strategies for both theoretical understanding and experimental advancement. In this work, by building a structure database of BPHs through graphical enumeration, performing data-driven analysis, and combining tight-binding and mean-field Hubbard calculations, we discovered that the number of the internal vertices of the BPH graphs is closely correlated to their open-shell characters. We further established a series of simple rules, the triangle counting rule (TCR), to predict the magnetic ground state of BPHs. These findings not only provide a database of open-shell BPHs, but also extend the well-known Lieb's theorem and Ovchinnikov's rule and provide a straightforward method for designing open-shell carbon nanostructures. These insights may aid in the exploration of emerging quantum phases and the development of magnetic carbon materials for technology applications.Comment: 6 pages, 4 figure

SteinDreamer: Variance Reduction for Text-to-3D Score Distillation via Stein Identity

Score distillation has emerged as one of the most prevalent approaches for text-to-3D asset synthesis. Essentially, score distillation updates 3D parameters by lifting and back-propagating scores averaged over different views. In this paper, we reveal that the gradient estimation in score distillation is inherent to high variance. Through the lens of variance reduction, the effectiveness of SDS and VSD can be interpreted as applications of various control variates to the Monte Carlo estimator of the distilled score. Motivated by this rethinking and based on Stein's identity, we propose a more general solution to reduce variance for score distillation, termed Stein Score Distillation (SSD). SSD incorporates control variates constructed by Stein identity, allowing for arbitrary baseline functions. This enables us to include flexible guidance priors and network architectures to explicitly optimize for variance reduction. In our experiments, the overall pipeline, dubbed SteinDreamer, is implemented by instantiating the control variate with a monocular depth estimator. The results suggest that SSD can effectively reduce the distillation variance and consistently improve visual quality for both object- and scene-level generation. Moreover, we demonstrate that SteinDreamer achieves faster convergence than existing methods due to more stable gradient updates.Comment: Project page: https://vita-group.github.io/SteinDreamer

Taming Mode Collapse in Score Distillation for Text-to-3D Generation

Despite the remarkable performance of score distillation in text-to-3D generation, such techniques notoriously suffer from view inconsistency issues, also known as "Janus" artifact, where the generated objects fake each view with multiple front faces. Although empirically effective methods have approached this problem via score debiasing or prompt engineering, a more rigorous perspective to explain and tackle this problem remains elusive. In this paper, we reveal that the existing score distillation-based text-to-3D generation frameworks degenerate to maximal likelihood seeking on each view independently and thus suffer from the mode collapse problem, manifesting as the Janus artifact in practice. To tame mode collapse, we improve score distillation by re-establishing the entropy term in the corresponding variational objective, which is applied to the distribution of rendered images. Maximizing the entropy encourages diversity among different views in generated 3D assets, thereby mitigating the Janus problem. Based on this new objective, we derive a new update rule for 3D score distillation, dubbed Entropic Score Distillation (ESD). We theoretically reveal that ESD can be simplified and implemented by just adopting the classifier-free guidance trick upon variational score distillation. Although embarrassingly straightforward, our extensive experiments successfully demonstrate that ESD can be an effective treatment for Janus artifacts in score distillation.Comment: Project page: https://vita-group.github.io/3D-Mode-Collapse

Long-term effects of total vs. partial pancreatectomy among patients with pancreatic cancer: a population-based study

Background: Total pancreatectomy (TP) for pancreatic cancer (PC) has been limited historically for fear of elevated perioperative morbidity and mortality. With advances in perioperative care, TP may be an alternative option to partial pancreatectomy (PP). Limited evidence clarified the indication for these two procedures in PC patients, especially in patients with different tumor staging and location. Thus, this study aims to compare the outcomes after TP and PP for PCs of different T stages and locations. Methods: The study identified 14,456 PC patients with potentially curable primary tumor (T1???3) who received TP or PP from the Surveillance, Epidemiology, and End Results (SEER) database during 2000 to 2016. Detailed clinical and tumor covariates were all collected. Overall survival (OS) and cancer-specific survival (CSS) were the primary endpoints of interest in this study. OS and CSS were compared between patients after TP and PP using log-rank analysis. Results: For all patients, except for tumor location, TP group was comparable to the PP group. OS and CSS of the TP group were worse than of the PP group (median OS: 19 vs. 20 months, P=0.0058; median CSS: 24 vs. 26 months, P=0.00098, respectively). In stratifying analyses, TP was significantly related to worse OS and CSS than PP in pancreatic head and neck cancer patients with T2-stage tumors (median OS: 18 vs. 19 months, P=0.0016; median CSS: 22 vs. 24 months, P=0.00055, respectively), whereas for patients with T1-or T3-stage pancreatic head and neck cancer as well as T1-to T3-stage pancreatic body and tail cancer or overlapping location cancer, OS and CSS of the two groups were similar (all P>0.05). Conclusions: Compared with PP, TP offered worse prognosis in pancreatic head and neck cancer patients with T2-stage tumors, furthermore, TP and PP achieved comparable prognosis in patients with T1-or T3-stage pancreatic head and neck cancer as well as T1-to T3-stage pancreatic body and tail cancer or overlapping location cancer

A Recombination Hotspot in a Schizophrenia-Associated Region of GABRB2

Background: Schizophrenia is a major disorder with complex genetic mechanisms. Earlier, population genetic studies revealed the occurrence of strong positive selection in the GABRB2 gene encoding the β2 subunit of GABAA receptors, within a segment of 3,551 bp harboring twenty-nine single nucleotide polymorphisms (SNPs) and containing schizophrenia-associated SNPs and haplotypes. Methodology/Principal Findings:In the present study, the possible occurrence of recombination in this 'S1-S29' segment was assessed. The occurrence of hotspot recombination was indicated by high resolution recombination rate estimation, haplotype diversity, abundance of rare haplotypes, recurrent mutations and torsos in haplotype networks, and experimental haplotyping of somatic and sperm DNA. The sub-segment distribution of relative recombination strength, measured by the ratio of haplotype diversity (Hd) over mutation rate (θ), was indicative of a human specific Alu-Yi6 insertion serving as a central recombining sequence facilitating homologous recombination. Local anomalous DNA conformation attributable to the Alu-Yi6 element, as suggested by enhanced DNase I sensitivity and obstruction to DNA sequencing, could be a contributing factor of the increased sequence diversity. Linkage disequilibrium (LD) analysis yielded prominent low LD points that supported ongoing recombination. LD contrast revealed significant dissimilarity between control and schizophrenic cohorts. Among the large array of inferred haplotypes, H26 and H73 were identified to be protective, and H19 and H81 risk-conferring, toward the development of schizophrenia. Conclusions/Significance: The co-occurrence of hotspot recombination and positive selection in the S1-S29 segment of GABRB2 has provided a plausible contribution to the molecular genetics mechanisms for schizophrenia. The present findings therefore suggest that genome regions characterized by the co-occurrence of positive selection and hotspot recombination, two interacting factors both affecting genetic diversity, merit close scrutiny with respect to the etiology of common complex disorders. © 2010 Ng et al

Effect of offline bullying on online unethical behavior among college students: the mediating roles of relative deprivation and anger rumination

This research delves into the correlation between offline bullying and online unethical behavior among college students; and examines the potential mediating influences of anger rumination and perceived relative deprivation. The findings suggest that anger rumination, perceived relative deprivation, offline bullying, and online unethical behavior exhibit significant positive correlations with each other. Offline bullying is a strong predictor of online unethical behavior among college students, with the dual mediating effects of perceived relative deprivation and anger rumination on the relationship between offline bullying and online unethical behavior. This suggests that offline bullying directly influences college students' online unethical behavior and also influences it indirectly through anger rumination and perceived relative deprivation

Tribocorrosion Failure Mechanism of TiN/SiOx Duplex Coating Deposited on AISI304 Stainless Steel

TiN/SiOx duplex coatings were synthesized on AISI304 stainless steel by plasma immersion ion implantation and deposition (PIIID) followed by radio frequency magnetron sputtering (RFMS). The microstructure and tribocorrosion failure behaviors of the duplex coatings were investigated by X-ray diffraction, X-ray photoelectron spectroscopy, scanning electron microscopy, atomic force microscopy, reciprocating-sliding tribometer, and electrochemical tests. The as-deposited duplex coating had a two-layered columnar growth structure consisting of face-centered cubic TiN and amorphous SiOx. Sliding tests showed that the TiN interlayer had good adhesion with the substrate, but the SiOx layer suffered from severe delamination failure. Friction force induced a number of micro-cracks in the coating, which provided channels for the diffusion of NaCl solution. The tribocorrosion test showed that the duplex coating exhibited a lower wear-performance in NaCl solution than in ambient atmosphere. Multi-scale chloride ion corrosion occurred simultaneously and substantially degraded the bonding strength of the columnar crystals or neighboring layers. Force-corrosion synergy damage eventually led to multi-degradation failure of the duplex coating. The presented results provide a comprehensive understanding of the tribocorrosion failure mechanism in coatings with duplex architecture