Fast Model Identification via Physics Engines for Data-Efficient Policy Search

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization technique towards minimizing the number of real-world experiments needed for model-based reinforcement learning. The proposed framework reproduces in a physics engine experiments performed on a real robot and optimizes the model's mechanical parameters so as to match real-world trajectories. The optimized model is then used for learning a policy in simulation, before real-world deployment. It is well understood, however, that it is hard to exactly reproduce real trajectories in simulation. Moreover, a near-optimal policy can be frequently found with an imperfect model. Therefore, this work proposes a strategy for identifying a model that is just good enough to approximate the value of a locally optimal policy with a certain confidence, instead of wasting effort on identifying the most accurate model. Evaluations, performed both in simulation and on a real robotic manipulation task, indicate that the proposed strategy results in an overall time-efficient, integrated model identification and learning solution, which significantly improves the data-efficiency of existing policy search algorithms.Comment: IJCAI 1

Neural-Symbolic Recommendation with Graph-Enhanced Information

The recommendation system is not only a problem of inductive statistics from data but also a cognitive task that requires reasoning ability. The most advanced graph neural networks have been widely used in recommendation systems because they can capture implicit structured information from graph-structured data. However, like most neural network algorithms, they only learn matching patterns from a perception perspective. Some researchers use user behavior for logic reasoning to achieve recommendation prediction from the perspective of cognitive reasoning, but this kind of reasoning is a local one and ignores implicit information on a global scale. In this work, we combine the advantages of graph neural networks and propositional logic operations to construct a neuro-symbolic recommendation model with both global implicit reasoning ability and local explicit logic reasoning ability. We first build an item-item graph based on the principle of adjacent interaction and use graph neural networks to capture implicit information in global data. Then we transform user behavior into propositional logic expressions to achieve recommendations from the perspective of cognitive reasoning. Extensive experiments on five public datasets show that our proposed model outperforms several state-of-the-art methods, source code is avaliable at [https://github.com/hanzo2020/GNNLR].Comment: 12 pages, 2 figures, conferenc

nnDetection for Intracranial Aneurysms Detection and Localization

Intracranial aneurysms are a commonly occurring and life-threatening condition, affecting approximately 3.2% of the general population. Consequently, detecting these aneurysms plays a crucial role in their management. Lesion detection involves the simultaneous localization and categorization of abnormalities within medical images. In this study, we employed the nnDetection framework, a self-configuring framework specifically designed for 3D medical object detection, to detect and localize the 3D coordinates of aneurysms effectively. To capture and extract diverse features associated with aneurysms, we utilized TOF-MRA and structural MRI, both obtained from the ADAM dataset. The performance of our proposed deep learning model was assessed through the utilization of free-response receiver operative characteristics for evaluation purposes. The model's weights and 3D prediction of the bounding box of TOF-MRA are publicly available at https://github.com/orouskhani/AneurysmDetection.Comment: 6 pages, 4 figure