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Chao Qin

Publications and source records attributed to Chao Qin.

At least 37 records · Page 2Linked to original sources
arXiv2024

Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach

Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown number of knot points is required to represent the trajectory. We present a polynomial-based automatic optimal synthesis (AOS) approach that can address this challenge. Our method not only achieves superior time optimality but also maintains a consistently low computational cost across different ranges while considering the full quadrotor dynamics. First, we analyze the properties of time-optimal quadrotor maneuvers to determine the minimal number of polynomial pieces required to capture the dominant structure of time-optimal trajectories. This enables us to represent substantially long minimum-time trajectories with a minimal set of variables. Then, a robust optimization scheme is developed to handle arbitrary start and end conditions as well as intermediate waypoints. Extensive comparisons show that our approach is faster than the state-of-the-art approach by orders of magnitude with comparable time optimality. Real-world experiments further validate the quality of the resulting trajectories, demonstrating aggressive time-optimal maneuvers with a peak velocity of 8.86 m/s.

cs.RO↗
arXiv2024

Time-Optimal Gate-Traversing Planner for Autonomous Drone Racing

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of the gates, simply rendering drone racing a waypoint-passing task. This formulation often leads to a conservative choice of paths through the gates, as the spatial potential of the gates is not fully utilized. To address this issue, we present a time-optimal planner that can faithfully model gate constraints with various configurations and thereby generate a more time-efficient trajectory while considering the single-rotor-thrust limits. Our approach excels in computational efficiency which only takes a few seconds to compute the full state and control trajectories of the drone through tracks with dozens of different gates. Extensive simulations and experiments confirm the effectiveness of the proposed methodology, showing that the lap time can be further reduced by taking into account the gate's configuration. We validate our planner in real-world flights and demonstrate super-extreme flight trajectory through race tracks.

cs.RO↗
arXiv2024

Immunogenic cell death triggered by pathogen ligands via host germ line-encoded receptors

The strategic induction of cell death serves as a crucial immune defense mechanism for the eradication of pathogenic infections within host cells. Investigating the molecular mechanisms underlying immunogenic cell pathways has significantly enhanced our understanding of the host's immunity. This review provides a comprehensive overview of the immunogenic cell death mechanisms triggered by pathogen infections, focusing on the critical role of pattern recognition receptors. In response to infections, host cells dictate a variety of cell death pathways, including apoptosis, pyroptosis, necrosis, and lysosomal cell death, which are essential for amplifying immune responses and controlling pathogen dissemination. Key components of these mechanisms are host cellular receptors that recognize pathogen-associated ligands. These receptors activate downstream signaling cascades, leading to the expression of immunoregulatory genes and the production of antimicrobial cytokines and chemokines. Particularly, the inflammasome, a multi-protein complex, plays a pivotal role in these responses by processing pro-inflammatory cytokines and inducing pyroptotic cell death. Pathogens, in turn, have evolved strategies to manipulate these cell death pathways, either by inhibiting them to facilitate their replication or by triggering them to evade host defenses. This dynamic interplay between host immune mechanisms and pathogen strategies highlights the intricate co-evolution of microbial virulence and host immunity.

q-bio.MN↗
arXiv2023

A Spatial-Temporal Deformable Attention based Framework for Breast Lesion Detection in Videos

Detecting breast lesion in videos is crucial for computer-aided diagnosis. Existing video-based breast lesion detection approaches typically perform temporal feature aggregation of deep backbone features based on the self-attention operation. We argue that such a strategy struggles to effectively perform deep feature aggregation and ignores the useful local information. To tackle these issues, we propose a spatial-temporal deformable attention based framework, named STNet. Our STNet introduces a spatial-temporal deformable attention module to perform local spatial-temporal feature fusion. The spatial-temporal deformable attention module enables deep feature aggregation in each stage of both encoder and decoder. To further accelerate the detection speed, we introduce an encoder feature shuffle strategy for multi-frame prediction during inference. In our encoder feature shuffle strategy, we share the backbone and encoder features, and shuffle encoder features for decoder to generate the predictions of multiple frames. The experiments on the public breast lesion ultrasound video dataset show that our STNet obtains a state-of-the-art detection performance, while operating twice as fast inference speed. The code and model are available at https://github.com/AlfredQin/STNet.

cs.CV↗
arXiv2023

Adaptive Experimentation in the Presence of Exogenous Nonstationary Variation

We investigate experiments that are designed to select a treatment arm for population deployment. Multi-armed bandit algorithms can enhance efficiency by dynamically allocating measurement effort towards higher performing arms based on observed feedback. However, such dynamics can result in brittle behavior in the face of nonstationary exogenous factors influencing arms' performance during the experiment. To counter this, we propose deconfounded Thompson sampling (DTS), a more robust variant of the prominent Thompson sampling algorithm. As observations accumulate, DTS projects the population-level performance of an arm while controlling for the context within which observed treatment decisions were made. Contexts here might capture a comprehensible source of variation, such as the country of a treated individual, or simply record the time of treatment. We provide bounds on both within-experiment and post-experiment regret of DTS, illustrating its resilience to exogenous variation and the delicate balance it strikes between exploration and exploitation. Our proofs leverage inverse propensity weights to analyze the evolution of the posterior distribution, a departure from established methods in the literature. Hinting that new understanding is indeed necessary, we show that a deconfounded variant of the popular upper confidence bound algorithm can fail completely.

cs.LG↗
arXiv2023

Rate-optimal Bayesian Simple Regret in Best Arm Identification

We consider best arm identification in the multi-armed bandit problem. Assuming certain continuity conditions of the prior, we characterize the rate of the Bayesian simple regret. Differing from Bayesian regret minimization (Lai, 1987), the leading term in the Bayesian simple regret derives from the region where the gap between optimal and suboptimal arms is smaller than $\sqrt{\frac{\log T}{T}}$. We propose a simple and easy-to-compute algorithm with its leading term matching with the lower bound up to a constant factor; simulation results support our theoretical findings.

cs.LG↗
arXiv2023

Information-Directed Selection for Top-Two Algorithms

We consider the best-k-arm identification problem for multi-armed bandits, where the objective is to select the exact set of k arms with the highest mean rewards by sequentially allocating measurement effort. We characterize the necessary and sufficient conditions for the optimal allocation using dual variables. Remarkably these optimality conditions lead to the extension of top-two algorithm design principle (Russo, 2020), initially proposed for best-arm identification. Furthermore, our optimality conditions induce a simple and effective selection rule dubbed information-directed selection (IDS) that selects one of the top-two candidates based on a measure of information gain. As a theoretical guarantee, we prove that integrated with IDS, top-two Thompson sampling is (asymptotically) optimal for Gaussian best-arm identification, solving a glaring open problem in the pure exploration literature (Russo, 2020). As a by-product, we show that for k > 1, top-two algorithms cannot achieve optimality even when the algorithm has access to the unknown "optimal" tuning parameter. Numerical experiments show the superior performance of the proposed top-two algorithms with IDS and considerable improvement compared with algorithms without adaptive selection.

stat.ML↗
arXiv2023

Open Problem: Optimal Best Arm Identification with Fixed Budget

Best arm identification or pure exploration problems have received much attention in the COLT community since Bubeck et al. (2009) and Audibert et al. (2010). For any bandit instance with a unique best arm, its asymptotic complexity in the so-called fixed-confidence setting has been completely characterized in Garivier and Kaufmann (2016) and Chernoff (1959), while little is known about the asymptotic complexity in its "dual" setting called fixed-budget setting. This note discusses the open problems and conjectures about the instance-dependent asymptotic complexity in the fixed-budget setting.

cs.LG↗
arXiv2023

An Analysis of Ensemble Sampling

Ensemble sampling serves as a practical approximation to Thompson sampling when maintaining an exact posterior distribution over model parameters is computationally intractable. In this paper, we establish a regret bound that ensures desirable behavior when ensemble sampling is applied to the linear bandit problem. This represents the first rigorous regret analysis of ensemble sampling and is made possible by leveraging information-theoretic concepts and novel analytic techniques that may prove useful beyond the scope of this paper.

cs.LG↗
arXiv2022

Optimal Best Arm Identification in Two-Armed Bandits with a Fixed Budget under a Small Gap

We consider fixed-budget best-arm identification in two-armed Gaussian bandit problems. One of the longstanding open questions is the existence of an optimal strategy under which the probability of misidentification matches a lower bound. We show that a strategy following the Neyman allocation rule (Neyman, 1934) is asymptotically optimal when the gap between the expected rewards is small. First, we review a lower bound derived by Kaufmann et al. (2016). Then, we propose the "Neyman Allocation (NA)-Augmented Inverse Probability weighting (AIPW)" strategy, which consists of the sampling rule using the Neyman allocation with an estimated standard deviation and the recommendation rule using an AIPW estimator. Our proposed strategy is optimal because the upper bound matches the lower bound when the budget goes to infinity and the gap goes to zero.

stat.ML↗
arXiv2022

Model Predictive Spherical Image-Based Visual Servoing On $SO(3)$ for Aggressive Aerial Tracking

This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i) finding a visual feature representation that is robust to large rotations and is suited to be an optimization variable; (ii) keeping the target visible without sacrificing the robot's agility; and (iii) compensating for the rotational effects in the detected features. We propose a complete design framework to address these problems. First, we employ a rotation on $SO(3)$ to represent a spherical image feature on $S^{2}$ to gain singularity-free and second-order differentiable properties. To ensure target visibility, we formulate the IBVS as a nonlinear model predictive control (NMPC) problem with three constraints taken into account: the robot's physical limits, target visibility, and time-to-collision (TTC). Furthermore, we propose a novel attitude-compensation scheme to enable formulating the visibility constraint in the actual image plane instead of a virtual fix-orientation image plane. It guarantees that the visibility constraint is valid under large rotations. Extensive experimental results show that our method can track a fast-moving target stably and aggressively without the aid of a localization system.

cs.RO↗
arXiv2022

Contextual Information-Directed Sampling

Information-directed sampling (IDS) has recently demonstrated its potential as a data-efficient reinforcement learning algorithm. However, it is still unclear what is the right form of information ratio to optimize when contextual information is available. We investigate the IDS design through two contextual bandit problems: contextual bandits with graph feedback and sparse linear contextual bandits. We provably demonstrate the advantage of contextual IDS over conditional IDS and emphasize the importance of considering the context distribution. The main message is that an intelligent agent should invest more on the actions that are beneficial for the future unseen contexts while the conditional IDS can be myopic. We further propose a computationally-efficient version of contextual IDS based on Actor-Critic and evaluate it empirically on a neural network contextual bandit.

cs.LG↗
arXiv2022

From Predictions to Decisions: The Importance of Joint Predictive Distributions

A fundamental challenge for any intelligent system is prediction: given some inputs, can you predict corresponding outcomes? Most work on supervised learning has focused on producing accurate marginal predictions for each input. However, we show that for a broad class of decision problems, accurate joint predictions are required to deliver good performance. In particular, we establish several results pertaining to combinatorial decision problems, sequential predictions, and multi-armed bandits to elucidate the essential role of joint predictive distributions. Our treatment of multi-armed bandits introduces an approximate Thompson sampling algorithm and analytic techniques that lead to a new kind of regret bound.

cs.LG↗
arXiv2021

Policy Choice and Best Arm Identification: Asymptotic Analysis of Exploration Sampling

We consider the "policy choice" problem -- otherwise known as best arm identification in the bandit literature -- proposed by Kasy and Sautmann (2021) for adaptive experimental design. Theorem 1 of Kasy and Sautmann (2021) provides three asymptotic results that give theoretical guarantees for exploration sampling developed for this setting. We first show that the proof of Theorem 1 (1) has technical issues, and the proof and statement of Theorem 1 (2) are incorrect. We then show, through a counterexample, that Theorem 1 (3) is false. For the former two, we correct the statements and provide rigorous proofs. For Theorem 1 (3), we propose an alternative objective function, which we call posterior weighted policy regret, and derive the asymptotic optimality of exploration sampling.

econ.EM↗
arXiv2021

PCVPC: Perception Constrained Visual Predictive Control For Agile Quadrotors

We present a perception constrained visual predictive control (PCVPC) algorithm for quadrotors to enable aggressive flights without using any position information. Our framework leverages nonlinear model predictive control (NMPC) to formulate a constrained image-based visual servoing (IBVS) problem. The quadrotor dynamics, image dynamics, actuation constraints, and visibility constraints are taken into account to handle quadrotor maneuvers with high agility. Two main challenges of applying IBVS to agile drones are considered: (i) high sensitivity of depths to intense orientation changes, and (ii) conflict between the visual servoing objective and action objective due to the underactuated nature. To deal with the first challenge, we parameterize a visual feature by a bearing vector and a distance, by which the depth will no longer be involved in the image dynamics. Meanwhile, we settle the conflict problem by compensating for the rotation in the future visual servoing cost using the predicted orientations of the quadrotor. Our approach in simulation shows that (i) it can work without any position information, (ii) it can achieve a maximum referebce speed of 9 m/s in trajectory tracking without losing the target, and (iii) it can reach a landmark, e.g., a gate in drone racing, from varied initial configurations.

cs.RO↗
arXiv2020

LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation

We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes, via fusing a 6-axis IMU and a 3D lidar in a tightly-coupled scheme. An iterated error-state Kalman filter (ESKF) is designed to correct the estimated state recursively by generating new feature correspondences in each iteration, and to keep the system computationally tractable. Moreover, we use a robocentric formulation that represents the state in a moving local frame in order to prevent filter divergence in a long run. To validate robustness and generalizability, extensive experiments are performed in various scenarios. Experimental results indicate that LINS offers comparable performance with the state-of-the-art lidar-inertial odometry in terms of stability and accuracy and has order-of-magnitude improvement in speed.

cs.RO↗
arXiv2020

Sex Differences in Severity and Mortality Among Patients With COVID-19: Evidence from Pooled Literature Analysis and Insights from Integrated Bioinformatic Analysis

Objective: To conduct a meta-analysis of current studies that examined sex differences in severity and mortality in patients with COVID-19, and identify potential mechanisms underpinning these differences. Methods: We performed a systematic review to collate data from observational studies examining associations of sex differences with clinical outcomes of COVID-19. PubMed, Web of Science and four preprint servers were searched for relevant studies. Data were extracted and analyzed using meta-analysis where possible, with summary data presented otherwise. Publicly available bulk RNA sequencing (RNA-seq), single-cell RNA sequencing (scRNA-seq), and chromatin immunoprecipitation sequencing (ChIP-seq) data were analyzed to explore the potential mechanisms underlying the observed association. Results: 39 studies met inclusion criteria, representing 77932 patients, of which 41510 (53.3%) were males. Men were at a markedly increased risk of developing severe cases compared with women. Furthermore, the pooled odds ratio (OR) of mortality for male group compared with the female group indicated significant higher mortality rate for male. Data from scRNA-seq suggest that men have a higher amount of ACE2-expressing pulmonary alveolar type II cells than women. Sex-based immunological differences exist. The expression of androgen receptor (AR) is positively correlated with ACE2, and there is evidence that AR may directly regulate the expression of ACE2. Conclusions: This meta-analysis detected an increased severity and mortality rate in the male populations with COVID-19, which might be attributable to the sex-based differences in cellular compositions and immunological microenvironments of the lung. The host cell receptor ACE2 is likely regulated by AR signaling pathway, which is identified as a potential target for prevention and treatment of SARS-Cov-2 infections in men.

q-bio.PE↗