Optimal control of nonlinear partially-unknown systems with unsymmetrical input constraints and its applications to the optimal UAV circumnavigation problem

Aimed at solving the optimal control problem for nonlinear systems with unsymmetrical input constraints, we present an online adaptive approach for partially unknown control systems/dynamics. The designed algorithm converges online to the optimal control solution without the knowledge of the internal system dynamics. The optimality of the obtained control policy and the stability for the closed-loop dynamic optimality are proved theoretically. The proposed method greatly relaxes the assumption on the form of the internal dynamics and input constraints in previous works. Besides, the control design framework proposed in this paper offers a new approach to solve the optimal circumnavigation problem involving a moving target for a fixed-wing unmanned aerial vehicle (UAV). The control performance of our method is compared with that of the existing circumnavigation control law in a numerical simulation and the simulation results validate the effectiveness of our algorithm

SmoothQuant+: Accurate and Efficient 4-bit Post-Training WeightQuantization for LLM

Large language models (LLMs) have shown remarkable capabilities in various tasks. However their huge model size and the consequent demand for computational and memory resources also pose challenges to model deployment. Currently, 4-bit post-training quantization (PTQ) has achieved some success in LLMs, reducing the memory footprint by approximately 75% compared to FP16 models, albeit with some accuracy loss. In this paper, we propose SmoothQuant+, an accurate and efficient 4-bit weight-only PTQ that requires no additional training, which enables lossless in accuracy for LLMs for the first time. Based on the fact that the loss of weight quantization is amplified by the activation outliers, SmoothQuant+ smoothes the activation outliers by channel before quantization, while adjusting the corresponding weights for mathematical equivalence, and then performs group-wise 4-bit weight quantization for linear layers. We have integrated SmoothQuant+ into the vLLM framework, an advanced high-throughput inference engine specially developed for LLMs, and equipped it with an efficient W4A16 CUDA kernels, so that vLLM can seamlessly support SmoothQuant+ 4-bit weight quantization. Our results show that, with SmoothQuant+, the Code Llama-34B model can be quantized and deployed on a A100 40GB GPU, achieving lossless accuracy and a throughput increase of 1.9 to 4.0 times compared to the FP16 model deployed on two A100 40GB GPUs. Moreover, the latency per token is only 68% of the FP16 model deployed on two A100 40GB GPUs. This is the state-of-the-art 4-bit weight quantization for LLMs as we know

BEVBert: Multimodal Map Pre-training for Language-guided Navigation

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to implicitly correlate incomplete, duplicate observations within the panoramas, which may impair an agent's spatial understanding. Thus, we propose a new map-based pre-training paradigm that is spatial-aware for use in VLN. Concretely, we build a local metric map to explicitly aggregate incomplete observations and remove duplicates, while modeling navigation dependency in a global topological map. This hybrid design can balance the demand of VLN for both short-term reasoning and long-term planning. Then, based on the hybrid map, we devise a pre-training framework to learn a multimodal map representation, which enhances spatial-aware cross-modal reasoning thereby facilitating the language-guided navigation goal. Extensive experiments demonstrate the effectiveness of the map-based pre-training route for VLN, and the proposed method achieves state-of-the-art on four VLN benchmarks.Comment: ICCV 2023, project page: https://github.com/MarSaKi/VLN-BEVBer

Self-Supervised Scene Dynamic Recovery from Rolling Shutter Images and Events

Scene Dynamic Recovery (SDR) by inverting distorted Rolling Shutter (RS) images to an undistorted high frame-rate Global Shutter (GS) video is a severely ill-posed problem, particularly when prior knowledge about camera/object motions is unavailable. Commonly used artificial assumptions on motion linearity and data-specific characteristics, regarding the temporal dynamics information embedded in the RS scanlines, are prone to producing sub-optimal solutions in real-world scenarios. To address this challenge, we propose an event-based RS2GS framework within a self-supervised learning paradigm that leverages the extremely high temporal resolution of event cameras to provide accurate inter/intra-frame information. % In this paper, we propose to leverage the event camera to provide inter/intra-frame information as the emitted events have an extremely high temporal resolution and learn an event-based RS2GS network within a self-supervised learning framework, where real-world events and RS images can be exploited to alleviate the performance degradation caused by the domain gap between the synthesized and real data. Specifically, an Event-based Inter/intra-frame Compensator (E-IC) is proposed to predict the per-pixel dynamic between arbitrary time intervals, including the temporal transition and spatial translation. Exploring connections in terms of RS-RS, RS-GS, and GS-RS, we explicitly formulate mutual constraints with the proposed E-IC, resulting in supervisions without ground-truth GS images. Extensive evaluations over synthetic and real datasets demonstrate that the proposed method achieves state-of-the-art and shows remarkable performance for event-based RS2GS inversion in real-world scenarios. The dataset and code are available at https://w3un.github.io/selfunroll/

A joint model for lesion segmentation and classification of MS and NMOSD

IntroductionMultiple sclerosis (MS) and neuromyelitis optic spectrum disorder (NMOSD) are mimic autoimmune diseases of the central nervous system with a very high disability rate. Their clinical symptoms and imaging findings are similar, making it difficult to diagnose and differentiate. Existing research typically employs the T2-weighted fluid-attenuated inversion recovery (T2-FLAIR) MRI imaging technique to focus on a single task in MS and NMOSD lesion segmentation or disease classification, while ignoring the collaboration between the tasks.MethodsTo make full use of the correlation between lesion segmentation and disease classification tasks of MS and NMOSD, so as to improve the accuracy and speed of the recognition and diagnosis of MS and NMOSD, a joint model is proposed in this study. The joint model primarily comprises three components: an information-sharing subnetwork, a lesion segmentation subnetwork, and a disease classification subnetwork. Among them, the information-sharing subnetwork adopts a dualbranch structure composed of a convolution module and a Swin Transformer module to extract local and global features, respectively. These features are then input into the lesion segmentation subnetwork and disease classification subnetwork to obtain results for both tasks simultaneously. In addition, to further enhance the mutual guidance between the tasks, this study proposes two information interaction methods: a lesion guidance module and a crosstask loss function. Furthermore, the lesion location maps provide interpretability for the diagnosis process of the deep learning model.ResultsThe joint model achieved a Dice similarity coefficient (DSC) of 74.87% on the lesion segmentation task and accuracy (ACC) of 92.36% on the disease classification task, demonstrating its superior performance. By setting up ablation experiments, the effectiveness of information sharing and interaction between tasks is verified.DiscussionThe results show that the joint model can effectively improve the performance of the two tasks

Multi-level characteristics recognition of cancer core therapeutic targets and drug screening for a broader patient population

Introduction: Target therapy for cancer cell mutation has brought attention to several challenges in clinical applications, including limited therapeutic targets, less patient benefits, and susceptibility to acquired due to their clear biological mechanisms and high specificity in targeting cancers with specific mutations. However, the identification of truly lethal synthetic lethal therapeutic targets for cancer cells remains uncommon, primarily due to compensatory mechanisms.Methods: In our pursuit of core therapeutic targets (CTTs) that exhibit extensive synthetic lethality in cancer and the corresponding potential drugs, we have developed a machine-learning model that utilizes multiple levels and dimensions of cancer characterization. This is achieved through the consideration of the transcriptional and post-transcriptional regulation of cancer-specific genes and the construction of a model that integrates statistics and machine learning. The model incorporates statistics such as Wilcoxon and Pearson, as well as random forest. Through WGCNA and network analysis, we identify hub genes in the SL network that serve as CTTs. Additionally, we establish regulatory networks for non-coding RNA (ncRNA) and drug-target interactions.Results: Our model has uncovered 7277 potential SL interactions, while WGCNA has identified 13 gene modules. Through network analysis, we have identified 30 CTTs with the highest degree in these modules. Based on these CTTs, we have constructed networks for ncRNA regulation and drug targets. Furthermore, by applying the same process to lung cancer and renal cell carcinoma, we have identified corresponding CTTs and potential therapeutic drugs. We have also analyzed common therapeutic targets among all three cancers.Discussion: The results of our study have broad applicability across various dimensions and histological data, as our model identifies potential therapeutic targets by learning multidimensional complex features from known synthetic lethal gene pairs. The incorporation of statistical screening and network analysis further enhances the confidence in these potential targets. Our approach provides novel theoretical insights and methodological support for the identification of CTTs and drugs in diverse types of cancer

MobiCeal: Towards secure and practical plausibly deniable encryption on mobile devices

National Research Foundation (NRF) Singapor

Structural Based Screening of Antiandrogen Targeting Activation Function-2 Binding Site

Androgen receptor (AR) plays a critical role in the development and progression of prostate cancer (PCa). Current antiandrogen therapies induce resistant mutations at the hormone binding pocket (HBP) that convert the activity of these agents from antagonist to agonist. Thus, there is a high unmet medical need for the development of novel antiandrogens which circumvent mutation-based resistance. Herein, through the analysis of AR structures with ligands binding to the activation function-2 (AF2) site, we built a combined pharmacophore model. In silico screening and the subsequent biological evaluation lead to the discovery of the novel lead compound IMB-A6 that binds to the AF2 site, which inhibits the activity of either wild-type (WT) or resistance mutated ARs. Our work demonstrates structure-based drug design is an efficient strategy to discover new antiandrogens, and provides a new class of small molecular antiandrogens for the development of novel treatment agents against PCa