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In mixed autonomy traffic environment, every decision made by an autonomous-driving car may have a great impact on the transportation system. Because of the complex interaction between vehicles, it is challenging to make decisions that can ensure both high traffic efficiency and safety now and futher. Connected automated vehicles (CAVs) have great potential to improve the quality of decision-making in this continuous, highly dynamic and interactive environment because of their stronger sensing and communicating ability. For multi-vehicle collaborative decision-making algorithms based on deep reinforcement learning (DRL), we need to represent the interactions between vehicles to obtain interactive features. The representation in this aspect directly affects the learning efficiency and the quality of the learned policy. To this end, we propose a CAV decision-making architecture based on transformer and reinforcement learning algorithms. A learnable policy token is used as the learning medium of the multi-vehicle joint policy, the states of all vehicles in the area of interest can be adaptively noticed in order to extract interactive features among agents. We also design an intuitive physical positional encodings, the redundant location information of which optimizes the performance of the network. Simulations show that our model can make good use of all the state information of vehicles in traffic scenario, so as to obtain high-quality driving decisions that meet efficiency and safety objectives. The comparison shows that our method significantly improves existing DRL-based multi-vehicle cooperative decision-making algorithms.

To solve the problem of lateral and logitudinal joint decision-making of multi-vehicle cooperative driving for connected and automated vehicles (CAVs), this paper proposes a Monte Carlo tree search (MCTS) method with parallel update for multi-agent Markov game with limited horizon and time discounted setting. By analyzing the parallel actions in the multi-vehicle joint action space in the partial-steady-state traffic flow, the parallel update method can quickly exclude potential dangerous actions, thereby increasing the search depth without sacrificing the search breadth. The proposed method is tested in a large number of randomly generated traffic flow. The experiment results show that the algorithm has good robustness and better performance than the SOTA reinforcement learning algorithms and heuristic methods. The vehicle driving strategy using the proposed algorithm shows rationality beyond human drivers, and has advantages in traffic efficiency and safety in the coordinating zone., Comment: arXiv admin note: text overlap with arXiv:2408.04295 by other authors

Hypoplastic left heart syndrome (HLHS) is a congenital defect in which right ventricle (RV) shape changes over time in response to altered loading conditions as adaptations to patient's single ventricle physiology. The RV shape can be considered as a co-indicator of the severity of underlying tricuspid valve (TV) regurgitation in HLHS, thus the accurate prediction on RV shape could potentially help predict valve dysfunction and timing of TV failure to inform clinical decision. A geodesic-based predictive shape modeling framework is proposed in this work with application to the RVs of a cohort of 15 HLHS patients as a pilot study. We show that reasonable predictions on stage 1 RV shapes can generated using pre-stage 1 RV shapes and merely two predictors from prior clinical and demographic measures. The study results show great promise towards further experiments for improved prediction results by incorporating more detailed demographic and shape information into the proposed predictive model., Comment: 8 pages, 2 figures, 1 table

We propose a new quantum key distribution scheme that is based on the optimum expectation values of maximally entangled Greenberger-Horne-Zeilinger states. Our protocol makes use of the degrees of freedom in continuously variable angles, thereby increasing the security of the key distribution. Outlined are two protocols that distribute a key from Alice to Bob using the above idea, followed by an extension that allows for the same key to be shared with Charlie. We show how this scheme provides for certain detection of any eavesdropper through absolute violation rather than the probabilistic violation used in many protocols.

For a global breeding organization, identifying the next generation of superior crops is vital for its success. Recognizing new genetic varieties requires years of in-field testing to gather data about the crop's yield, pest resistance, heat resistance, etc. At the conclusion of the growing season, organizations need to determine which varieties will be advanced to the next growing season (or sold to farmers) and which ones will be discarded from the candidate pool. Specifically for soybeans, identifying their relative maturity is a vital piece of information used for advancement decisions. However, this trait needs to be physically observed, and there are resource limitations (time, money, etc.) that bottleneck the data collection process. To combat this, breeding organizations are moving toward advanced image capturing devices. In this paper, we develop a robust and automatic approach for estimating the relative maturity of soybeans using a time series of UAV images. An end-to-end hybrid model combining Convolutional Neural Networks (CNN) and Long Short-Term Memory (LSTM) is proposed to extract features and capture the sequential behavior of time series data. The proposed deep learning model was tested on six different environments across the United States. Results suggest the effectiveness of our proposed CNN-LSTM model compared to the local regression method. Furthermore, we demonstrate how this newfound information can be used to aid in plant breeding advancement decisions., Comment: 22 pages, 7 figures

Imaging modalities provide clinicians with real-time visualization of anatomical regions of interest (ROI) for the purpose of minimally invasive surgery. During the procedure, low-resolution image data are acquired and registered with high-resolution preoperative 3D reconstruction to guide the execution of surgical preplan. Unfortunately, due to the potential large strain and nonlinearities in the deformation of soft biological tissues, significant mismatch may be observed between ROI shapes during pre- and intra-operative imaging stages, making the surgical preplan prone to failure. In an effort to bridge the gap between the two imaging stages, this paper presents a data-driven approach based on artificial neural network for predicting the ROI deformation in real-time with sparsely registered fiducial markers. For a head-and-neck tumor model with an average maximum displacement of 30 mm, the maximum surface offsets between benchmarks and predictions using the proposed approach for 98% of the test cases are under 1.0 mm, which is the typical resolution of high-quality interventional ultrasound. Each of the prediction processes takes less than 0.5 s. With the resulting prediction accuracy and computational efficiency, the proposed approach demonstrates its potential to be clinically relevant., Comment: The first two authors contribute equally. Accepted to ML4Eng @ NeurIPS 2020

The future landscape of modern farming and plant breeding is rapidly changing due to the complex needs of our society. The explosion of collectable data has started a revolution in agriculture to the point where innovation must occur. To a commercial organization, the accurate and efficient collection of information is necessary to ensure that optimal decisions are made at key points of the breeding cycle. However, due to the shear size of a breeding program and current resource limitations, the ability to collect precise data on individual plants is not possible. In particular, efficient phenotyping of crops to record its color, shape, chemical properties, disease susceptibility, etc. is severely limited due to labor requirements and, oftentimes, expert domain knowledge. In this paper, we propose a deep learning based approach, named DeepStand, for image-based corn stand counting at early phenological stages. The proposed method adopts a truncated VGG-16 network as a backbone feature extractor and merges multiple feature maps with different scales to make the network robust against scale variation. Our extensive computational experiments suggest that our proposed method can successfully count corn stands and out-perform other state-of-the-art methods. It is the goal of our work to be used by the larger agricultural community as a way to enable high-throughput phenotyping without the use of extensive time and labor requirements., Comment: 15 pages, 3 figures, 3 tables

The success of modern farming and plant breeding relies on accurate and efficient collection of data. For a commercial organization that manages large amounts of crops, collecting accurate and consistent data is a bottleneck. Due to limited time and labor, accurately phenotyping crops to record color, head count, height, weight, etc. is severely limited. However, this information, combined with other genetic and environmental factors, is vital for developing new superior crop species that help feed the world's growing population. Recent advances in machine learning, in particular deep learning, have shown promise in mitigating this bottleneck. In this paper, we propose a novel deep learning method for counting on-ear corn kernels in-field to aid in the gathering of real-time data and, ultimately, to improve decision making to maximize yield. We name this approach DeepCorn, and show that this framework is robust under various conditions. DeepCorn estimates the density of corn kernels in an image of corn ears and predicts the number of kernels based on the estimated density map. DeepCorn uses a truncated VGG-16 as a backbone for feature extraction and merges feature maps from multiple scales of the network to make it robust against image scale variations. We also adopt a semi-supervised learning approach to further improve the performance of our proposed method. Our proposed method achieves the MAE and RMSE of 41.36 and 60.27 in the corn kernel counting task, respectively. Our experimental results demonstrate the superiority and effectiveness of our proposed method compared to other state-of-the-art methods., Comment: 27 pages, 7 figures

Precise in-season corn grain yield estimates enable farmers to make real-time accurate harvest and grain marketing decisions minimizing possible losses of profitability. A well developed corn ear can have up to 800 kernels, but manually counting the kernels on an ear of corn is labor-intensive, time consuming and prone to human error. From an algorithmic perspective, the detection of the kernels from a single corn ear image is challenging due to the large number of kernels at different angles and very small distance among the kernels. In this paper, we propose a kernel detection and counting method based on a sliding window approach. The proposed method detect and counts all corn kernels in a single corn ear image taken in uncontrolled lighting conditions. The sliding window approach uses a convolutional neural network (CNN) for kernel detection. Then, a non-maximum suppression (NMS) is applied to remove overlapping detections. Finally, windows that are classified as kernel are passed to another CNN regression model for finding the (x,y) coordinates of the center of kernel image patches. Our experiments indicate that the proposed method can successfully detect the corn kernels with a low detection error and is also able to detect kernels on a batch of corn ears positioned at different angles., Comment: 14 pages, 9 figures