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Xuan Lin

Publications and source records attributed to Xuan Lin.

At least 37 records · Page 2Linked to original sources

DynamicDTA: Drug-Target Binding Affinity Prediction Using Dynamic Descriptors and Graph Representation

Predicting drug-target binding affinity (DTA) is essential for identifying potential therapeutic candidates in drug discovery. However, most existing models rely heavily on static protein structures, often overlooking the dynamic nature of proteins, which is crucial for capturing conformational flexibility that will be beneficial for protein binding interactions. We introduce DynamicDTA, an innovative deep learning framework that incorporates static and dynamic protein features to enhance DTA prediction. The proposed DynamicDTA takes three types of inputs, including drug sequence, protein sequence, and dynamic descriptors. A molecular graph representation of the drug sequence is generated and subsequently processed through graph convolutional network, while the protein sequence is encoded using dilated convolutions. Dynamic descriptors, such as root mean square fluctuation, are processed through a multi-layer perceptron. These embedding features are fused with static protein features using cross-attention, and a tensor fusion network integrates all three modalities for DTA prediction. Extensive experiments on three datasets demonstrate that DynamicDTA achieves by at least 3.4% improvement in RMSE score with comparison to seven state-of-the-art baseline methods. Additionally, predicting novel drugs for Human Immunodeficiency Virus Type 1 and visualizing the docking complexes further demonstrates the reliability and biological relevance of DynamicDTA.

cs.RO

Enhancing Chemical Reaction and Retrosynthesis Prediction with Large Language Model and Dual-task Learning

Chemical reaction and retrosynthesis prediction are fundamental tasks in drug discovery. Recently, large language models (LLMs) have shown potential in many domains. However, directly applying LLMs to these tasks faces two major challenges: (i) lacking a large-scale chemical synthesis-related instruction dataset; (ii) ignoring the close correlation between reaction and retrosynthesis prediction for the existing fine-tuning strategies. To address these challenges, we propose ChemDual, a novel LLM framework for accurate chemical synthesis. Specifically, considering the high cost of data acquisition for reaction and retrosynthesis, ChemDual regards the reaction-and-retrosynthesis of molecules as a related recombination-and-fragmentation process and constructs a large-scale of 4.4 million instruction dataset. Furthermore, ChemDual introduces an enhanced LLaMA, equipped with a multi-scale tokenizer and dual-task learning strategy, to jointly optimize the process of recombination and fragmentation as well as the tasks between reaction and retrosynthesis prediction. Extensive experiments on Mol-Instruction and USPTO-50K datasets demonstrate that ChemDual achieves state-of-the-art performance in both predictions of reaction and retrosynthesis, outperforming the existing conventional single-task approaches and the general open-source LLMs. Through molecular docking analysis, ChemDual generates compounds with diverse and strong protein binding affinity, further highlighting its strong potential in drug design.

cs.LG

S$^2$DN: Learning to Denoise Unconvincing Knowledge for Inductive Knowledge Graph Completion

Inductive Knowledge Graph Completion (KGC) aims to infer missing facts between newly emerged entities within knowledge graphs (KGs), posing a significant challenge. While recent studies have shown promising results in inferring such entities through knowledge subgraph reasoning, they suffer from (i) the semantic inconsistencies of similar relations, and (ii) noisy interactions inherent in KGs due to the presence of unconvincing knowledge for emerging entities. To address these challenges, we propose a Semantic Structure-aware Denoising Network (S$^2$DN) for inductive KGC. Our goal is to learn adaptable general semantics and reliable structures to distill consistent semantic knowledge while preserving reliable interactions within KGs. Specifically, we introduce a semantic smoothing module over the enclosing subgraphs to retain the universal semantic knowledge of relations. We incorporate a structure refining module to filter out unreliable interactions and offer additional knowledge, retaining robust structure surrounding target links. Extensive experiments conducted on three benchmark KGs demonstrate that S$^2$DN surpasses the performance of state-of-the-art models. These results demonstrate the effectiveness of S$^2$DN in preserving semantic consistency and enhancing the robustness of filtering out unreliable interactions in contaminated KGs.

cs.LG

Learning to Denoise Biomedical Knowledge Graph for Robust Molecular Interaction Prediction

Molecular interaction prediction plays a crucial role in forecasting unknown interactions between molecules, such as drug-target interaction (DTI) and drug-drug interaction (DDI), which are essential in the field of drug discovery and therapeutics. Although previous prediction methods have yielded promising results by leveraging the rich semantics and topological structure of biomedical knowledge graphs (KGs), they have primarily focused on enhancing predictive performance without addressing the presence of inevitable noise and inconsistent semantics. This limitation has hindered the advancement of KG-based prediction methods. To address this limitation, we propose BioKDN (Biomedical Knowledge Graph Denoising Network) for robust molecular interaction prediction. BioKDN refines the reliable structure of local subgraphs by denoising noisy links in a learnable manner, providing a general module for extracting task-relevant interactions. To enhance the reliability of the refined structure, BioKDN maintains consistent and robust semantics by smoothing relations around the target interaction. By maximizing the mutual information between reliable structure and smoothed relations, BioKDN emphasizes informative semantics to enable precise predictions. Experimental results on real-world datasets show that BioKDN surpasses state-of-the-art models in DTI and DDI prediction tasks, confirming the effectiveness and robustness of BioKDN in denoising unreliable interactions within contaminated KGs

cs.AI

Y-Mol: A Multiscale Biomedical Knowledge-Guided Large Language Model for Drug Development

Large Language Models (LLMs) have recently demonstrated remarkable performance in general tasks across various fields. However, their effectiveness within specific domains such as drug development remains challenges. To solve these challenges, we introduce \textbf{Y-Mol}, forming a well-established LLM paradigm for the flow of drug development. Y-Mol is a multiscale biomedical knowledge-guided LLM designed to accomplish tasks across lead compound discovery, pre-clinic, and clinic prediction. By integrating millions of multiscale biomedical knowledge and using LLaMA2 as the base LLM, Y-Mol augments the reasoning capability in the biomedical domain by learning from a corpus of publications, knowledge graphs, and expert-designed synthetic data. The capability is further enriched with three types of drug-oriented instructions: description-based prompts from processed publications, semantic-based prompts for extracting associations from knowledge graphs, and template-based prompts for understanding expert knowledge from biomedical tools. Besides, Y-Mol offers a set of LLM paradigms that can autonomously execute the downstream tasks across the entire process of drug development, including virtual screening, drug design, pharmacological properties prediction, and drug-related interaction prediction. Our extensive evaluations of various biomedical sources demonstrate that Y-Mol significantly outperforms general-purpose LLMs in discovering lead compounds, predicting molecular properties, and identifying drug interaction events.

cs.AI

Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning

Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solving times. Recent work utilizing data-driven methods has shown potential to overcome this issue allowing for applications on larger scale problems. To solve mixed-integer bilinear programs online with data-driven methods, several re-formulations exist including mathematical programming with complementary constraints (MPCC), and mixed-integer programming (MIP). In this work, we compare the data-driven performances of various MIBLP reformulations using a book placement problem that has discrete configuration switches and bilinear constraints. The success rate, cost, and solving time are compared along with non-data-driven methods. Our results demonstrate the advantage of using data-driven methods to accelerate the solving speed of MIBLPs, and provide references for users to choose the suitable re-formulation.

cs.RO

AntCritic: Argument Mining for Free-Form and Visually-Rich Financial Comments

Argument mining aims to detect all possible argumentative components and identify their relationships automatically. As a thriving task in natural language processing, there has been a large amount of corpus for academic study and application development in this field. However, the research in this area is still constrained by the inherent limitations of existing datasets. Specifically, all the publicly available datasets are relatively small in scale, and few of them provide information from other modalities to facilitate the learning process. Moreover, the statements and expressions in these corpora are usually in a compact form, which restricts the generalization ability of models. To this end, we collect a novel dataset AntCritic to serve as a helpful complement to this area, which consists of about 10k free-form and visually-rich financial comments and supports both argument component detection and argument relation prediction tasks. Besides, to cope with the challenges brought by scenario expansion, we thoroughly explore the fine-grained relation prediction and structure reconstruction scheme and discuss the encoding mechanism for visual styles and layouts. On this basis, we design two simple but effective model architectures and conduct various experiments on this dataset to provide benchmark performances as a reference and verify the practicability of our proposed architecture. We release our data and code in this link, and this dataset follows CC BY-NC-ND 4.0 license.

cs.IR

ViT-TTS: Visual Text-to-Speech with Scalable Diffusion Transformer

Text-to-speech(TTS) has undergone remarkable improvements in performance, particularly with the advent of Denoising Diffusion Probabilistic Models (DDPMs). However, the perceived quality of audio depends not solely on its content, pitch, rhythm, and energy, but also on the physical environment. In this work, we propose ViT-TTS, the first visual TTS model with scalable diffusion transformers. ViT-TTS complement the phoneme sequence with the visual information to generate high-perceived audio, opening up new avenues for practical applications of AR and VR to allow a more immersive and realistic audio experience. To mitigate the data scarcity in learning visual acoustic information, we 1) introduce a self-supervised learning framework to enhance both the visual-text encoder and denoiser decoder; 2) leverage the diffusion transformer scalable in terms of parameters and capacity to learn visual scene information. Experimental results demonstrate that ViT-TTS achieves new state-of-the-art results, outperforming cascaded systems and other baselines regardless of the visibility of the scene. With low-resource data (1h, 2h, 5h), ViT-TTS achieves comparative results with rich-resource baselines.~\footnote{Audio samples are available at \url{https://ViT-TTS.github.io/.}}

eess.AS

Generalized Benders Decomposition with Continual Learning for Hybrid Model Predictive Control in Dynamic Environment

Hybrid model predictive control (MPC) with both continuous and discrete variables is widely applicable to robotic control tasks, especially those involving contact with the environment. Due to the combinatorial complexity, the solving speed of hybrid MPC can be insufficient for real-time applications. In this paper, we proposed a hybrid MPC solver based on Generalized Benders Decomposition (GBD) with continual learning. The algorithm accumulates cutting planes from the invariant dual space of the subproblems. After a short cold-start phase, the accumulated cuts provide warm-starts for the new problem instances to increase the solving speed. Despite the randomly changing environment that the control is unprepared for, the solving speed maintains. We verified our solver on controlling a cart-pole system with randomly moving soft contact walls and show that the solving speed is 2-3 times faster than the off-the-shelf solver Gurobi.

cs.RO

Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter

In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these systems. The controller's objective is to track the target wrench profiles of each contact point while considering the additional torque due to rotational friction. Our admittance controller is adaptive during online operation by using an auto-tuning method that tunes the gains of the controller while following user-specified training objectives. These objectives include facilitating controller stability, such as tracking the wrench profiles as closely as possible, ensuring control outputs are within force limits that minimize slippage, and avoiding configurations that induce kinematic singularity. We demonstrate the robustness of our controller on hardware for both manipulation and locomotion tasks using a multi-limbed climbing robot.

cs.RO

Optimization Based Motion Planning for Multi-Limbed Vertical Climbing Robots

Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged robot braces itself between two vertical walls and climbs vertically with end effectors that only use friction. Instead of motion planning with a single nonlinear programming (NLP) solver, we decoupled the problem into two parts with distinct physical meaning: torso postures and contact forces. The first part can be formulated as either a mixed-integer convex programming (MICP) or NLP problem, while the second part is formulated as a series of standard convex optimization problems. Variants of the two wall climbing problem e.g., obstacle avoidance, uneven surfaces, and angled walls, help verify the proposed method in simulation and experimentation.

cs.RO

Comprehensive evaluation of deep and graph learning on drug-drug interactions prediction

Recent advances and achievements of artificial intelligence (AI) as well as deep and graph learning models have established their usefulness in biomedical applications, especially in drug-drug interactions (DDIs). DDIs refer to a change in the effect of one drug to the presence of another drug in the human body, which plays an essential role in drug discovery and clinical research. DDIs prediction through traditional clinical trials and experiments is an expensive and time-consuming process. To correctly apply the advanced AI and deep learning, the developer and user meet various challenges such as the availability and encoding of data resources, and the design of computational methods. This review summarizes chemical structure based, network based, NLP based and hybrid methods, providing an updated and accessible guide to the broad researchers and development community with different domain knowledge. We introduce widely-used molecular representation and describe the theoretical frameworks of graph neural network models for representing molecular structures. We present the advantages and disadvantages of deep and graph learning methods by performing comparative experiments. We discuss the potential technical challenges and highlight future directions of deep and graph learning models for accelerating DDIs prediction.

cs.LG

Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion

Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait, limiting the richness of potential solutions. We remove those assumptions and solve the complete mixed-integer non-convex programming with single rigid body model. We first collect datasets of pre-solved problems offline, then learn the problem-solution map to solve this optimization fast for MPC. If warm-starts can be found, offline problems can be solved close to the global optimality. The proposed controller is tested by generating various gaits and behaviors depending on the initial conditions. Hardware test demonstrates online gait generation and adaptation running at more than 50 Hz based on sensor feedback.

cs.RO

Benchmark Results for Bookshelf Organization Problem as Mixed Integer Nonlinear Program with Mode Switch and Collision Avoidance

Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines data-driven methods on solver heuristics has shown potential to overcome this issue allowing for applications on larger scale practical problems. To solve mixed-integer bilinear programs online with data-driven methods, several formulations exist including mathematical programming with complementary constraints (MPCC), mixed-integer programming (MIP). In this work, we benchmark the performances of those data-driven schemes on a bookshelf organization problem that has discrete mode switch and collision avoidance constraints. The success rate, optimal cost and solving time are compared along with non-data-driven methods. Our proposed methods are demonstrated as a high level planner for a robotic arm for the bookshelf problem.

math.OC

Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation

In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg depending on how and what it is attached to, e.g., a manipulator when it is anchored to walls within a delivery vehicle or a quadruped robot when 4 are attached to a box. Coordinating amongst multiple LIMMS, when each one can take on vastly different roles, can quickly become complex. For such a planning problem we first compose the necessary logic and constraints. The formulation is then solved for skill exploration and can be implemented on hardware after refinement. To solve this optimization problem we use alternating direction method of multipliers (ADMM). The proposed planner is experimented under various scenarios which shows the capability of LIMMS to enter into different modes or combinations of them to achieve their goal of moving shipping boxes.

cs.RO

SCALER: A Tough Versatile Quadruped Free-Climber Robot

This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER promises practical free-climbing with payload \textit{and} ground locomotion, which realizes true versatile mobility. A new climbing gait, SKATE gait, increases the payload by utilizing the SCALER body linkage mechanism. SCALER achieves a maximum normalized locomotion speed of $1.87$ /s, or $0.56$ m/s on the ground and $1.0$ /min, or $0.35$ m/min in bouldering wall climbing. Payload capacity reaches $233$ % of the SCALER weight on the ground and $35$ % on the vertical wall. Our GOAT gripper, a mechanically adaptable underactuated two-finger gripper, successfully grasps convex and non-convex objects and supports SCALER.

cs.RO

Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously solving locomotion (e.g., centroidal dynamics), grasping (e.g., patch contact), and contact (e.g., gait) problems. To accelerate the planning process, we propose distributed optimization frameworks based on Alternating Direction Methods of Multipliers (ADMM) to solve the original large-scale Mixed-Integer NonLinear Programming (MINLP). The resulting frameworks use Mixed-Integer Quadratic Programming (MIQP) to solve contact and NonLinear Programming (NLP) to solve nonlinear dynamics, which are more computationally tractable and less sensitive to parameters. Also, we explicitly enforce patch contact constraints from limit surfaces with micro-spine grippers. We demonstrate our proposed framework in the hardware experiments, showing that the multi-limbed robot is able to realize various motions including free-climbing at a slope angle 45° with a much shorter planning time.

cs.RO

AntPivot: Livestream Highlight Detection via Hierarchical Attention Mechanism

In recent days, streaming technology has greatly promoted the development in the field of livestream. Due to the excessive length of livestream records, it's quite essential to extract highlight segments with the aim of effective reproduction and redistribution. Although there are lots of approaches proven to be effective in the highlight detection for other modals, the challenges existing in livestream processing, such as the extreme durations, large topic shifts, much irrelevant information and so forth, heavily hamper the adaptation and compatibility of these methods. In this paper, we formulate a new task Livestream Highlight Detection, discuss and analyze the difficulties listed above and propose a novel architecture AntPivot to solve this problem. Concretely, we first encode the original data into multiple views and model their temporal relations to capture clues in a hierarchical attention mechanism. Afterwards, we try to convert the detection of highlight clips into the search for optimal decision sequences and use the fully integrated representations to predict the final results in a dynamic-programming mechanism. Furthermore, we construct a fully-annotated dataset AntHighlight to instantiate this task and evaluate the performance of our model. The extensive experiments indicate the effectiveness and validity of our proposed method.

cs.MM