Search

The gait generator, which is capable of producing rhythmic signals for coordinating multiple joints, is an essential component in the quadruped robot locomotion control framework. The biological counterpart of the gait generator is the Central Pattern Generator (abbreviated as CPG), a small neural network consisting of interacting neurons. Inspired by this architecture, researchers have designed artificial neural networks composed of simulated neurons or oscillator equations. Despite the widespread application of these designed CPGs in various robot locomotion controls, some issues remain unaddressed, including: (1) Simplistic network designs often overlook the symmetry between signal and network structure, resulting in fewer gait patterns than those found in nature. (2) Due to minimal architectural consideration, quadruped control CPGs typically consist of only four neurons, which restricts the network's direct control to leg phases rather than joint coordination. (3) Gait changes are achieved by varying the neuron couplings or the assignment between neurons and legs, rather than through external stimulation. We apply symmetry theory to design an eight-neuron network, composed of Stein neuronal models, capable of achieving five gaits and coordinated control of the hip-knee joints. We validate the signal stability of this network as a gait generator through numerical simulations, which reveal various results and patterns encountered during gait transitions using neuronal stimulation. Based on these findings, we have developed several successful gait transition strategies through neuronal stimulations. Using a commercial quadruped robot model, we demonstrate the usability and feasibility of this network by implementing motion control and gait transitions.

Drug discovery is vitally important for protecting human against disease. Target-based screening is one of the most popular methods to develop new drugs in the past several decades. This method efficiently screens candidate drugs inhibiting target protein in vitro, but it often fails due to inadequate activity of the selected drugs in vivo. Accurate computational methods are needed to bridge this gap. Here, we propose a novel graph multi task deep learning model to identify compounds carrying both target inhibitory and cell active (MATIC) properties. On a carefully curated SARS-CoV-2 dataset, the proposed MATIC model shows advantages comparing with traditional method in screening effective compounds in vivo. Next, we explored the model interpretability and found that the learned features for target inhibition (in vitro) or cell active (in vivo) tasks are different with molecular property correlations and atom functional attentions. Based on these findings, we utilized a monte carlo based reinforcement learning generative model to generate novel multi-property compounds with both in vitro and in vivo efficacy, thus bridging the gap between target-based and cell-based drug discovery.

Graph mining tasks arise from many different application domains, ranging from social networks, transportation to E-commerce, etc., which have been receiving great attention from the theoretical and algorithmic design communities in recent years, and there has been some pioneering work employing the research-rich Reinforcement Learning (RL) techniques to address graph data mining tasks. However, these graph mining methods and RL models are dispersed in different research areas, which makes it hard to compare them. In this survey, we provide a comprehensive overview of RL and graph mining methods and generalize these methods to Graph Reinforcement Learning (GRL) as a unified formulation. We further discuss the applications of GRL methods across various domains and summarize the method descriptions, open-source codes, and benchmark datasets of GRL methods. Furthermore, we propose important directions and challenges to be solved in the future. As far as we know, this is the latest work on a comprehensive survey of GRL, this work provides a global view and a learning resource for scholars. In addition, we create an online open-source for both interested scholars who want to enter this rapidly developing domain and experts who would like to compare GRL methods., Comment: Accepted by IEEE Transactions on Emerging Topics in Computational Intelligence

Recently, parallel text generation has received widespread attention due to its success in generation efficiency. Although many advanced techniques are proposed to improve its generation quality, they still need the help of an autoregressive model for training to overcome the one-to-many multi-modal phenomenon in the dataset, limiting their applications. In this paper, we propose $\textit{latent}$-GLAT, which employs the discrete latent variables to capture word categorical information and invoke an advanced curriculum learning technique, alleviating the multi-modality problem. Experiment results show that our method outperforms strong baselines without the help of an autoregressive model, which further broadens the application scenarios of the parallel decoding paradigm., Comment: 12 pages, 5 figures, 6 tables. Accepted as a long paper in the main conference of ACL-2022

Network pruning and knowledge distillation are two widely-known model compression methods that efficiently reduce computation cost and model size. A common problem in both pruning and distillation is to determine compressed architecture, i.e., the exact number of filters per layer and layer configuration, in order to preserve most of the original model capacity. In spite of the great advances in existing works, the determination of an excellent architecture still requires human interference or tremendous experimentations. In this paper, we propose an architecture slimming method that automates the layer configuration process. We start from the perspective that the capacity of the over-parameterized model can be largely preserved by finding the minimum number of filters preserving the maximum parameter variance per layer, resulting in a thin architecture. We formulate the determination of compressed architecture as a one-step orthogonal linear transformation, and integrate principle component analysis (PCA), where the variances of filters in the first several projections are maximized. We demonstrate the rationality of our analysis and the effectiveness of the proposed method through extensive experiments. In particular, we show that under the same overall compression rate, the compressed architecture determined by our method shows significant performance gain over baselines after pruning and distillation. Surprisingly, we find that the resulting layer-wise compression rates correspond to the layer sensitivities found by existing works through tremendous experimentations.

We study the problem of online learning with human feedback in the human-in-the-loop machine translation, in which the human translators revise the machine-generated translations and then the corrected translations are used to improve the neural machine translation (NMT) system. However, previous methods require online model updating or additional translation memory networks to achieve high-quality performance, making them inflexible and inefficient in practice. In this paper, we propose a novel non-parametric online learning method without changing the model structure. This approach introduces two k-nearest-neighbor (knn) modules: one module memorizes the human feedback, which is the correct sentences provided by human translators, while the other balances the usage of the history human feedback and original NMT models adaptively. Experiments conducted on EMEA and JRC-Acquis benchmarks demonstrate that our proposed method obtains substantial improvements on translation accuracy and achieves better adaptation performance with less repeating human correction operations., Comment: Accepted to the 36th AAAI Conference on Artificial Intelligence (AAAI 2022)

The identification of protein-ligand interaction plays a key role in biochemical research and drug discovery. Although deep learning has recently shown great promise in discovering new drugs, there remains a gap between deep learning-based and experimental approaches. Here we propose a novel framework, named AIMEE, integrating AI Model and Enzymology Experiments, to identify inhibitors against 3CL protease of SARS-CoV-2, which has taken a significant toll on people across the globe. From a bioactive chemical library, we have conducted two rounds of experiments and identified six novel inhibitors with a hit rate of 29.41%, and four of them showed an IC50 value less than 3 {\mu}M. Moreover, we explored the interpretability of the central model in AIMEE, mapping the deep learning extracted features to domain knowledge of chemical properties. Based on this knowledge, a commercially available compound was selected and proven to be an activity-based probe of 3CLpro. This work highlights the great potential of combining deep learning models and biochemical experiments for intelligent iteration and expanding the boundaries of drug discovery.

Non-autoregressive Transformer is a promising text generation model. However, current non-autoregressive models still fall behind their autoregressive counterparts in translation quality. We attribute this accuracy gap to the lack of dependency modeling among decoder inputs. In this paper, we propose CNAT, which learns implicitly categorical codes as latent variables into the non-autoregressive decoding. The interaction among these categorical codes remedies the missing dependencies and improves the model capacity. Experiment results show that our model achieves comparable or better performance in machine translation tasks, compared with several strong baselines., Comment: 11 pages, 3 figures, 7 tables. Accepted by NAACL-2021