M. Clara De Paolis Kaluza

arXiv2024

CAFA-evaluator: A Python Tool for Benchmarking Ontological Classification Methods

We present CAFA-evaluator, a powerful Python program designed to evaluate the performance of prediction methods on targets with hierarchical concept dependencies. It generalizes multi-label evaluation to modern ontologies where the prediction targets are drawn from a directed acyclic graph and achieves high efficiency by leveraging matrix computation and topological sorting. The program requirements include a small number of standard Python libraries, making CAFA-evaluator easy to maintain. The code replicates the Critical Assessment of protein Function Annotation (CAFA) benchmarking, which evaluates predictions of the consistent subgraphs in Gene Ontology. Owing to its reliability and accuracy, the organizers have selected CAFA-evaluator as the official CAFA evaluation software.

q-bio.QM↗

arXiv2020

Deep Imitation Learning for Bimanual Robotic Manipulation

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling the relational information in the environment can significantly improve generalization. To achieve this, we propose to (i) decompose the multi-modal dynamics into elemental movement primitives, (ii) parameterize each primitive using a recurrent graph neural network to capture interactions, and (iii) integrate a high-level planner that composes primitives sequentially and a low-level controller to combine primitive dynamics and inverse kinematics control. Our model is a deep, hierarchical, modular architecture. Compared to baselines, our model generalizes better and achieves higher success rates on several simulated bimanual robotic manipulation tasks. We open source the code for simulation, data, and models at: https://github.com/Rose-STL-Lab/HDR-IL.

cs.RO↗