Towards Multi-Objective Object Push-Grasp Policy Based on Maximum Entropy Deep Reinforcement Learning under Sparse Rewards.

In unstructured environments, robots need to deal with a wide variety of objects with diverse shapes, and often, the instances of these objects are unknown. Traditional methods rely on training with large-scale labeled data, but in environments with continuous and high-dimensional state spaces, the data become sparse, leading to weak generalization ability of the trained models when transferred to real-world applications. To address this challenge, we present an innovative maximum entropy Deep Q-Network (ME-DQN), which leverages an attention mechanism. The framework solves complex and sparse reward tasks through probabilistic reasoning while eliminating the trouble of adjusting hyper-parameters. This approach aims to merge the robust feature extraction capabilities of Fully Convolutional Networks (FCNs) with the efficient feature selection of the attention mechanism across diverse task scenarios. By integrating an advantage function with the reasoning and decision-making of deep reinforcement learning, ME-DQN propels the frontier of robotic grasping and expands the boundaries of intelligent perception and grasping decision-making in unstructured environments. Our simulations demonstrate a remarkable grasping success rate of 91.6%, while maintaining excellent generalization performance in the real world.

Evaluating the Accuracy of Breast Cancer and Molecular Subtype Diagnosis by Ultrasound Image Deep Learning Model.

Background: Breast ultrasound is the first choice for breast tumor diagnosis in China, but the Breast Imaging Reporting and Data System (BI-RADS) categorization routinely used in the clinic often leads to unnecessary biopsy. Radiologists have no ability to predict molecular subtypes with important pathological information that can guide clinical treatment. Materials and Methods: This retrospective study collected breast ultrasound images from two hospitals and formed training, test and external test sets after strict selection, which included 2,822, 707, and 210 ultrasound images, respectively. An optimized deep learning model (DLM) was constructed with the training set, and the performance was verified in both the test set and the external test set. Diagnostic results were compared with the BI-RADS categorization determined by radiologists. We divided breast cancer into different molecular subtypes according to hormone receptor (HR) and human epidermal growth factor receptor 2 (HER2) expression. The ability to predict molecular subtypes using the DLM was confirmed in the test set. Results: In the test set, with pathological results as the gold standard, the accuracy, sensitivity and specificity were 85.6, 98.7, and 63.1%, respectively, according to the BI-RADS categorization. The same set achieved an accuracy, sensitivity, and specificity of 89.7, 91.3, and 86.9%, respectively, when using the DLM. For the test set, the area under the curve (AUC) was 0.96. For the external test set, the AUC was 0.90. The diagnostic accuracy was 92.86% with the DLM in BI-RADS 4a patients. Approximately 70.76% of the cases were judged as benign tumors. Unnecessary biopsy was theoretically reduced by 67.86%. However, the false negative rate was 10.4%. A good prediction effect was shown for the molecular subtypes of breast cancer with the DLM. The AUC were 0.864, 0.811, and 0.837 for the triple-negative subtype, HER2 (+) subtype and HR (+) subtype predictions, respectively. Conclusion: This study showed that the DLM was highly accurate in recognizing breast tumors from ultrasound images. Thus, the DLM can greatly reduce the incidence of unnecessary biopsy, especially for patients with BI-RADS 4a. In addition, the predictive ability of this model for molecular subtypes was satisfactory,which has specific clinical application value.

A New Magnetotactic Bacteria Optimization Algorithm Based on Moment Migration.

Magnetotactic bacteria is a kind of polyphyletic group of prokaryotes with the characteristics of magnetotaxis that make them orient and swim along geomagnetic field lines. Its distinct biology characteristics are useful to design new optimization technology. In this paper, a new bionic optimization algorithm named Magnetotactic Bacteria Moment Migration Algorithm (MBMMA) is proposed. In the proposed algorithm, the moments of a chain of magnetosomes are considered as solutions. The moments of relative good solutions can migrate each other to enhance the diversity of the MBMMA. It is compared with variants of PSO on standard functions problems. The experiment results show that the MBMMA is effective in solving optimization problems. It shows better or competitive performance compared with the variants of PSO on most of the tested functions in this paper.

Constrained multiobjective biogeography optimization algorithm.

Multiobjective optimization involves minimizing or maximizing multiple objective functions subject to a set of constraints. In this study, a novel constrained multiobjective biogeography optimization algorithm (CMBOA) is proposed. It is the first biogeography optimization algorithm for constrained multiobjective optimization. In CMBOA, a disturbance migration operator is designed to generate diverse feasible individuals in order to promote the diversity of individuals on Pareto front. Infeasible individuals nearby feasible region are evolved to feasibility by recombining with their nearest nondominated feasible individuals. The convergence of CMBOA is proved by using probability theory. The performance of CMBOA is evaluated on a set of 6 benchmark problems and experimental results show that the CMBOA performs better than or similar to the classical NSGA-II and IS-MOEA.