Paper proposes a method to control robots of different shapes efficiently.
problem Learning optimal control policies for robots of various shapes is challenging.
method Hierarchical architecture with hypernetworks and fixed attention mechanism.
result Method improves learning performance and generalizes to unseen morphologies.
Paper proposes efficient co-adaptation of robot morphology and behavior.
problem Infeasibility of co-adapting morphology and behavior in robots due to long manufacturing times and need for new controllers.
method Uses deep reinforcement learning, specifically the soft actor critic algorithm, to automatically and efficiently co-adapt robot morphology and behavior.
result Reduces the number of morphologies and behaviors tested, making co-adaptation more data-efficient.
Paper proposes a new method to optimize robot body structure and control policy.
problem Optimizing robot body structure and control policy in a coupled manner.
method Revisits co-design problem as a Stackelberg game, incorporating control adaptation dynamics.
result Stackelberg PPO outperforms standard PPO in stability and performance.
Hierarchical decoupling improves sample efficiency for complex robots.
problem Learning long-range behaviors on complex robots.
method Two-part policy: low-level imitation and high-level transfer, with KL regularization.
result Hierarchical transfer significantly improves zero-shot high-level transfer and stabilizes learning.
A machine learning method predicts rock permeability from 3D images.
problem Efficiently predict permeability of heterogeneous rocks for planetary and robotic applications.
method Machine learning guided 3D properties recognition of rock morphology from 3D micro CT and MRI images.
result The morphology decoder method accurately predicts permeability from 3D images.
Focalized GP improves Bayesian optimization for large datasets.
problem Efficiently scaling Bayesian optimization to large datasets and online samples.
method Proposes focalized sparse Gaussian processes and FocalBO algorithm.
result FocalBO achieves state-of-the-art performance on complex optimization problems.
New metric solves correspondence problem for robotic arm imitation learning.
problem Establishing corresponding states and actions between different robotic arms.
method Introducing a distance measure between dissimilar robotic arms and using it as a loss function.
result The distance measure effectively learns imitation policies by minimizing distance between robotic arms.
Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive agents learns to dynamically self-assemble into composite bodies while also lea…
Paper presents a method for efficient robot adaptation using fine-tuning.
problem Continuous adaptation of robot learning systems in real-world scenarios.
method Fine-tuning previously learned policies using off-policy reinforcement learning.
result Fine-tuning leads to substantial performance gains and adaptation to new conditions.
Investigates training challenges for morphological neural networks.
problem Training morphological neural networks with gradient descent is difficult.
method Examines differentiation and backpropagation for morphological networks, using Bouligand derivative.
result Provides theoretical insights and guidelines for initialization and learning rates.
Generative model calibrates 3D battery cathode morphologies from 2D images.
problem Calibrate 3D morphologies of all-solid-state battery cathodes from 2D microscopy images.
method Combining GANs with excursion sets of Gaussian random fields.
result Calibrated digital twins enable systematic exploration of morphological scenarios.
Morphological neurons, that is morphological operators such as dilation and erosion with learnable structuring elements, have intrigued researchers for quite some time because of the power these operators bring to the table despite their simplicity. These operators are known to be powerful nonlinear tools, but for a gi…
GraphDINO learns neuronal morphologies from unlabeled data.
problem Unsupervised learning of neuronal morphologies from unlabeled data.
method Transformer-based approach with novel attention mechanism and data augmentation.
result GraphDINO yields morphological clusterings on par with expert classification.
A method for a single policy to solve various tasks across diverse agent morphologies.
problem Generalizing a single policy to solve various tasks across diverse agent morphologies.
method Unified representation and behavior distillation using a morphology-task graph and Transformer architecture.
result Improves multi-task performances compared to baselines, suggesting a promising approach.
Morphology in unbalanced languages remains a big challenge in the context of machine translation. In this paper, we propose to de-couple machine translation from morphology generation in order to better deal with the problem. We investigate the morphology simplification with a reasonable trade-off between expected gain…
Improved prediction of polymer morphology through machine learning and simulations.
problem Understanding and predicting the morphology of multi-component polymer blends.
method Modified Cahn-Hilliard model for simulations, machine learning for clustering and prediction.
result Machine learning achieved ≥ 90% accuracy in predicting polymer morphology. New method shows ignoring morphological graph info improves reinforcement learning performance.
problem Improving reinforcement learning performance in incompatible environments.
method Transformer-based approach (Amorpheus) that ignores morphological graph information.
result Transformer-based approach outperforms GNN-based methods that use morphological information.
Paper introduces ℓ-DER for regression tasks using morphological operators and convex-concave procedure.
problem Developing a universal approximator for regression tasks.
method Introduces ℓ-DER model, trains it using a convex-concave procedure (CCP) to minimize least-squares. result Outperforms other hybrid morphological models and state-of-the-art approaches.
Deep learning algorithms for connectomics rely upon localized classification, rather than overall morphology. This leads to a high incidence of erroneously merged objects. Humans, by contrast, can easily detect such errors by acquiring intuition for the correct morphology of objects. Biological neurons have complicated…
Automates galaxy morphology classification with less human labelling.
problem Insufficient human-labeled galaxy images for accurate classification.
method Developed a VAE with equivariant transformer layers and a classifier network.
result Improves accuracy with fewer labels and unlabelled data.
Geometric models improve feature extraction and equivariance in image generation.
problem Improving feature extraction at multiscale levels and reducing network complexity.
method Proposes a geometric generative model based on morphological PDEs and GANs, incorporating equivariance for geometric interpretability.
result Preliminary results show GM-GAN outperforms classical GANs on MNIST data.
We present a conditional generative model to learn variation in cell and nuclear morphology and the location of subcellular structures from microscopy images. Our model generalizes to a wide range of subcellular localization and allows for a probabilistic interpretation of cell and nuclear morphology and structure loca…
A crucial challenge in image-based modeling of biomedical data is to identify trends and features that separate normality and pathology. In many cases, the morphology of the imaged object exhibits continuous change as it deviates from normality, and thus a generative model can be trained to model this morphological con…
A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable planning within a goal-directed policy. This planning computation unrolls a for…
Machine learning for ASD diagnosis using morphological MRI networks.
problem Challenging to diagnose ASD using MRI due to heterogeneity and incomplete network neuroscience.
method Crowdsourced Kaggle competition to develop and benchmark ML pipelines.
result First-ranked team achieved 70% accuracy, 72.5% sensitivity, and 67.5% specificity.
Measuring the morphological parameters of galaxies is a key requirement for studying their formation and evolution. Surveys such as the Sloan Digital Sky Survey (SDSS) have resulted in the availability of very large collections of images, which have permitted population-wide analyses of galaxy morphology. Morphological…
A flexible machine learning model infers the morphology of the Galactic Center Excess.
problem Inferring the unknown morphology of the Galactic Center Excess using Fermi gamma-ray data.
method Used a Gaussian process (GP) to model the Galactic Center Excess (GCE) as a flexible, non-parametric machine learning model.
result The best-fit GP contains morphological features not typically associated with traditional GCE studies, such as a localized bright source and a diagonal arm.
Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously unseen tasks. Generalization and overfitting in deep reinforcement learning are …
Paper shows equivalence between MM and PH for n-D Morse functions.
problem Relationship between Mathematical Morphology and Persistent Homology.
method Examined pairing of extrema in Morse functions using dynamics and persistence.
result Equivalence proven between dynamics and persistence on n-D Morse functions.
Deep learning improves cancer report classification accuracy.
problem Automatically assigning ICD-O3 codes to cancer reports.
method State-of-the-art deep learning techniques, including hierarchical and flat models, with attention mechanisms.
result Best model achieves 90.3% accuracy on topography site assignment and 84.8% on morphology type assignment.
This study examines cores within superclusters, highlighting their transitional nature and dynamical state.
problem Understanding the morphology and dynamical properties of cores within superclusters.
method Projected and radial velocity distributions of galaxies, morphological analysis, entropy and mass estimates.
result Cores are transitional structures that evolve towards virialisation but remain gravitationally bound.
Proves a tree of shapes for n-D images in optimal time.
problem Proving the mathematical structure of tree of shapes in n-D images.
method Optimal quasi-linear time algorithm for computing the tree of shapes.
result The tree of shapes is the self-dual morphological hierarchical structure of n-D gray-level images.
This paper addresses the issue of building a part-based representation of a dataset of images. More precisely, we look for a non-negative, sparse decomposition of the images on a reduced set of atoms, in order to unveil a morphological and interpretable structure of the data. Additionally, we want this decomposition to…
Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data models based on normalising flows. Models of this kind can describe highly complex d…
New model reduces bias in cosmic shear measurements.
problem Bias in cosmic shear measurements due to non-well-defined ellipticity.
method Hybrid physical and deep learning Hierarchical Bayesian Model.
result Unbiased estimate of shear on realistic galaxies.
This paper introduces a model of environmental acoustic scenes which adopts a morphological approach by ab-stracting temporal structures of acoustic scenes. To demonstrate its potential, this model is employed to evaluate the performance of a large set of acoustic events detection systems. This model allows us to expli…
Study connects hyperbolic geometry to membrane shapes.
problem Understanding the shapes of biological membranes.
method Relates geometry of hyperbolic space to Helfrich model.
result Establishes a connection between membrane shapes and hyperbolic geometry.
Paper introduces r-DEP classifier for binary classification tasks.
problem No natural ordering for feature patterns in practical situations.
method Introduces reduced dilation-erosion (r-DEP) classifier using multi-valued mathematical morphology.
result r-DEP classifiers outperform traditional SVCs in balanced accuracy.
Herein, we present a system for hyperspectral image segmentation that utilizes multiple class--based denoising autoencoders which are efficiently trained. Moreover, we present a novel hyperspectral data augmentation method for labelled HSI data using linear mixtures of pixels from each class, which helps the system wit…
The performance of an organic photovoltaic device is intricately connected to its active layer morphology. This connection between the active layer and device performance is very expensive to evaluate, either experimentally or computationally. Hence, designing morphologies to achieve higher performances is non-trivial …
Greek POS Tagger and Entity Recognizer built using spaCy.
problem Developing a machine learning model for Greek language POS tagging and named entity recognition.
method Machine learning approach with spaCy platform, focusing on morphological features and token classification.
result The Greek spaCy platform improved performance in part-of-speech tagging and named entity recognition.
New models improve morpheme segmentation in low-resource languages.
problem Improving morpheme segmentation in low-resource languages.
method Two new models: LSTM pointer-generator and sequence-to-sequence with hard monotonic attention.
result Novel models outperform existing ones by up to 11.4% accuracy in low-resource settings.
This work improves deep learning models for fMRI by generating realistic brain morphology images.
problem Limited dataset sizes for functional MRI limit the accuracy of deep learning models.
method Proposes a method to generate new fMRI images with realistic brain morphology.
result Demonstrates a 26% improvement in predicting antidepressant treatment response using augmented images.
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperati…
Neural Machine Translation (MT) has reached state-of-the-art results. However, one of the main challenges that neural MT still faces is dealing with very large vocabularies and morphologically rich languages. In this paper, we propose a neural MT system using character-based embeddings in combination with convolutional…
Robotics: Rolling robots on a moving platform can be controlled.
problem Controlling the motion of rolling robots atop a moving platform.
method Developed a mathematical model and demonstrated simulations.
result Platform acceleration can control robot's heading and motion.
Transfer learning methods for reinforcement learning (RL) domains facilitate the acquisition of new skills using previously acquired knowledge. The vast majority of existing approaches assume that the agents have the same design, e.g. same shape and action spaces. In this paper we address the problem of transferring pr…
Robots learn to handle complex tasks creatively using DRL.
problem Robotic manipulation challenges and intelligence.
method Designing challenging manipulation tasks, applying DRL for robot training.
result Robots exhibit creative and non-intuitive problem-solving.