Robotic Interestingness via Human-Informed Few-Shot Object Detection

Interestingness recognition is crucial for decision making in autonomous exploration for mobile robots. Previous methods proposed an unsupervised online learning approach that can adapt to environments and detect interesting scenes quickly, but lack the ability to adapt to human-informed interesting objects. To solve this problem, we introduce a human-interactive framework, AirInteraction, that can detect human-informed objects via few-shot online learning. To reduce the communication bandwidth, we first apply an online unsupervised learning algorithm on the unmanned vehicle for interestingness recognition and then only send the potential interesting scenes to a base-station for human inspection. The human operator is able to draw and provide bounding box annotations for particular interesting objects, which are sent back to the robot to detect similar objects via few-shot learning. Only using few human-labeled examples, the robot can learn novel interesting object categories during the mission and detect interesting scenes that contain the objects. We evaluate our method on various interesting scene recognition datasets. To the best of our knowledge, it is the first human-informed few-shot object detection framework for autonomous exploration

Comparison of Gene Regulatory Networks via Steady-State Trajectories

The modeling of genetic regulatory networks is becoming increasingly widespread in the study of biological systems. In the abstract, one would prefer quantitatively comprehensive models, such as a differential-equation model, to coarse models; however, in practice, detailed models require more accurate measurements for inference and more computational power to analyze than coarse-scale models. It is crucial to address the issue of model complexity in the framework of a basic scientific paradigm: the model should be of minimal complexity to provide the necessary predictive power. Addressing this issue requires a metric by which to compare networks. This paper proposes the use of a classical measure of difference between amplitude distributions for periodic signals to compare two networks according to the differences of their trajectories in the steady state. The metric is applicable to networks with both continuous and discrete values for both time and state, and it possesses the critical property that it allows the comparison of networks of different natures. We demonstrate application of the metric by comparing a continuous-valued reference network against simplified versions obtained via quantization

Context-specific gene regulatory networks subdivide intrinsic subtypes of breast cancer

<p>Abstract</p> <p>Background</p> <p>Breast cancer is a highly heterogeneous disease with respect to molecular alterations and cellular composition making therapeutic and clinical outcome unpredictable. This diversity creates a significant challenge in developing tumor classifications that are clinically reliable with respect to prognosis prediction.</p> <p>Results</p> <p>This paper describes an unsupervised context analysis to infer context-specific gene regulatory networks from 1,614 samples obtained from publicly available gene expression data, an extension of a previously published methodology. We use the context-specific gene regulatory networks to classify the tumors into clinically relevant subgroups, and provide candidates for a finer sub-grouping of the previously known intrinsic tumors with a focus on Basal-like tumors. Our analysis of pathway enrichment in the key contexts provides an insight into the biological mechanism underlying the identified subtypes of breast cancer.</p> <p>Conclusions</p> <p>The use of context-specific gene regulatory networks to identify biological contexts from heterogenous breast cancer data set was able to identify genomic drivers for subgroups within the previously reported intrinsic subtypes. These subgroups (contexts) uphold the clinical relevant features for the intrinsic subtypes and were associated with increased survival differences compared to the intrinsic subtypes. We believe our computational approach led to the generation of novel rationalized hypotheses to explain mechanisms of disease progression within sub-contexts of breast cancer that could be therapeutically exploited once validated.</p

AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration

Few-shot object detection has attracted increasing attention and rapidly progressed in recent years. However, the requirement of an exhaustive offline fine-tuning stage in existing methods is time-consuming and significantly hinders their usage in online applications such as autonomous exploration of low-power robots. We find that their major limitation is that the little but valuable information from a few support images is not fully exploited. To solve this problem, we propose a brand new architecture, AirDet, and surprisingly find that, by learning class-agnostic relation with the support images in all modules, including cross-scale object proposal network, shots aggregation module, and localization network, AirDet without fine-tuning achieves comparable or even better results than many fine-tuned methods, reaching up to 30-40% improvements. We also present solid results of onboard tests on real-world exploration data from the DARPA Subterranean Challenge, which strongly validate the feasibility of AirDet in robotics. To the best of our knowledge, AirDet is the first feasible few-shot detection method for autonomous exploration of low-power robots. The code and pre-trained models are released at https://github.com/Jaraxxus-Me/AirDet.Comment: 23 pages, 9 figure

Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Spherical Decomposition

This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable robots to methodically explore and observe an unknown set of rooms in a structured building, keeping track of which rooms are already explored and sharing this information among robots to coordinate their behaviors in a distributed manner. To this end, we propose (1) a geometric cue extraction method that processes 3D map point cloud data and detects the locations of potential cues such as doors and rooms, (2) a spherical decomposition for open spaces used for target assignment. Using these two components, our pipeline effectively assigns tasks among robots, and enables a methodical exploration of rooms. We evaluate the performance of our pipeline using a team of up to 3 aerial robots, and show that our method outperforms the baseline by 36.6% in simulation and 26.4% in real-world experiments