Real-to-Virtual Domain Unification for End-to-End Autonomous Driving

In the spectrum of vision-based autonomous driving, vanilla end-to-end models are not interpretable and suboptimal in performance, while mediated perception models require additional intermediate representations such as segmentation masks or detection bounding boxes, whose annotation can be prohibitively expensive as we move to a larger scale. More critically, all prior works fail to deal with the notorious domain shift if we were to merge data collected from different sources, which greatly hinders the model generalization ability. In this work, we address the above limitations by taking advantage of virtual data collected from driving simulators, and present DU-drive, an unsupervised real-to-virtual domain unification framework for end-to-end autonomous driving. It first transforms real driving data to its less complex counterpart in the virtual domain and then predicts vehicle control commands from the generated virtual image. Our framework has three unique advantages: 1) it maps driving data collected from a variety of source distributions into a unified domain, effectively eliminating domain shift; 2) the learned virtual representation is simpler than the input real image and closer in form to the "minimum sufficient statistic" for the prediction task, which relieves the burden of the compression phase while optimizing the information bottleneck tradeoff and leads to superior prediction performance; 3) it takes advantage of annotated virtual data which is unlimited and free to obtain. Extensive experiments on two public driving datasets and two driving simulators demonstrate the performance superiority and interpretive capability of DU-drive

South Asian monsoon history over the past 60 kyr recorded by radiogenic isotopes and clay mineral assemblages in the Andaman Sea

The Late Quaternary variability of the South Asian (or Indian) monsoon has been linked with glacial‐interglacial and millennial scale climatic changes but past rainfall intensity in the river catchments draining into the Andaman Sea remains poorly constrained. Here we use radiogenic Sr, Nd, and Pb isotope compositions of the detrital clay‐size fraction and clay mineral assemblages obtained from sediment core NGHP Site 17 in the Andaman Sea to reconstruct the variability of the South Asian monsoon during the past 60 kyr. Over this time interval εNd values changed little, generally oscillating between −7.3 and −5.3 and the Pb isotope signatures are essentially invariable, which is in contrast to a record located further northeast in the Andaman Sea. This indicates that the source of the detrital clays did not change significantly during the last glacial and deglaciation suggesting the monsoon was spatially stable. The most likely source region is the Irrawaddy river catchment including the Indo‐Burman Ranges with a possible minor contribution from the Andaman Islands. High smectite/(illite + chlorite) ratios (up to 14), as well as low 87Sr/86Sr ratios (0.711) for the Holocene period indicate enhanced chemical weathering and a stronger South Asian monsoon compared to marine oxygen isotope stages 2 and 3. Short, smectite‐poor intervals exhibit markedly radiogenic Sr isotope compositions and document weakening of the South Asian monsoon, which may have been linked to short‐term northern Atlantic climate variability on millennial time scales

Local Guarantees in Graph Cuts and Clustering

Correlation Clustering is an elegant model that captures fundamental graph cut problems such as Min $s-t$ Cut, Multiway Cut, and Multicut, extensively studied in combinatorial optimization. Here, we are given a graph with edges labeled $+$ or $-$ and the goal is to produce a clustering that agrees with the labels as much as possible: $+$ edges within clusters and $-$ edges across clusters. The classical approach towards Correlation Clustering (and other graph cut problems) is to optimize a global objective. We depart from this and study local objectives: minimizing the maximum number of disagreements for edges incident on a single node, and the analogous max min agreements objective. This naturally gives rise to a family of basic min-max graph cut problems. A prototypical representative is Min Max $s-t$ Cut: find an $s-t$ cut minimizing the largest number of cut edges incident on any node. We present the following results: $(1)$ an $O(\sqrt{n})$-approximation for the problem of minimizing the maximum total weight of disagreement edges incident on any node (thus providing the first known approximation for the above family of min-max graph cut problems), $(2)$ a remarkably simple $7$-approximation for minimizing local disagreements in complete graphs (improving upon the previous best known approximation of $48$), and $(3)$ a $1/(2+\varepsilon)$-approximation for maximizing the minimum total weight of agreement edges incident on any node, hence improving upon the $1/(4+\varepsilon)$-approximation that follows from the study of approximate pure Nash equilibria in cut and party affiliation games

Exploring Graphs with Time Constraints by Unreliable Collections of Mobile Robots

A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each node of the graph is visited before its deadline by a reliable robot. The edge weight corresponds to the time needed by a robot to traverse the edge. Given the number of robots which may crash, is it possible to design an algorithm, which will always guarantee the exploration, independently of the choice of the subset of unreliable robots by the adversary? We find the optimal time, during which the graph may be explored. Our approach permits to find the maximal number of robots, which may turn out to be unreliable, and the graph is still guaranteed to be explored. We concentrate on line graphs and rings, for which we give positive results. We start with the case of the collections involving only reliable robots. We give algorithms finding optimal times needed for exploration when the robots are assigned to fixed initial positions as well as when such starting positions may be determined by the algorithm. We extend our consideration to the case when some number of robots may be unreliable. Our most surprising result is that solving the line exploration problem with robots at given positions, which may involve crash-faulty ones, is NP-hard. The same problem has polynomial solutions for a ring and for the case when the initial robots' positions on the line are arbitrary. The exploration problem is shown to be NP-hard for star graphs, even when the team consists of only two reliable robots

Growth and Reproductive Development of Male Piglets Are More Vulnerable to Midgestation Maternal Stress Than That of Female Piglets

In many mammalian species, prenatal stress masculinizes female and feminizes male offspring impairing their reproductive capacity. Regrouping gestating sows is a common, stressful production practice, but its impact on the developing pigs of the sow is not fully known. This study examined the effects of regrouping gestating sows and the administration of exogenous glucocorticoids on the growth and external reproductive morphology of pigs. At 37.2 ± 0.26 d of gestation, 6 cohorts of 18 sows (N = 108) were placed in 1 of 3 treatments: socially stable (Stable), hydrocortisone acetate (HCA), or mixed (Mixed). The HCA sows were administered 70 mg HCA, a synthetic glucocorticoid, twice daily during the 21 d experimental period. Each Mixed sow was penned with 2 companion sows (Companion) and regrouped on d 7 and 14 with 2 different Companion sows in a new pen. Stable and HCA sows were penned in treatment groups of 3 sows. Sow social rank was assessed weekly during feeding. After the 21 d experimental period, all sows were housed in gestation stalls for the duration of pregnancy. During the 21 d, Companion sows gained more weight than HCA and Mixed sows (P \u3c 0.05) with Stable sows intermediate. High ranked sows gained more weight than middle and low ranked sows (P \u3c 0.05). Mixed sows had greater head lesion scores than Stable and HCA sows (P \u3c 0.05) with Companion sows intermediate. Head lesions increased with lower social rank (P \u3c 0.001). Sow treatment did not affect farrowing rate, litter size, or sex ratio (P \u3e 0.10). Social rank also had no effect on farrowing rate (P \u3e 0.10), but affected total litter size (P = 0.03). High ranked sows bore and weaned more live females than low ranked sows (P \u3c 0.05), in part due to differential preweaning mortality among female pigs (P = 0.01). Only male pigs were affected by sow treatment. Preweaning mortality was higher among male pigs from HCA than from Mixed sows (P = 0.04) with other treatments intermediate. Despite no weight differences in the preweaning period, at 160 d of age males from HCA sows weighed more than males from Stable sows (P = 0.01) with other treatments intermediate. Males born to Companion sows had longer relative anogenital distances, a marker of fetal testosterone exposure, than males from Mixed sows (P = 0.03) with other treatments intermediate. The prenatal environment affected the pigs in a sex-specific manner altering the growth and reproductive morphology of the males more than that of the females

Rare Earth Element Distribution in the NE Atlantic: Evidence for Benthic Sources, Longevity of the Seawater Signal, and Biogeochemical Cycling

Seawater rare earth element (REE) concentrations are increasingly applied to reconstruct water mass histories by exploiting relative changes in the distinctive normalised patterns. However, the mechanisms by which water masses gain their patterns are yet to be fully explained. To examine this, we collected water samples along the Extended Ellett Line (EEL), an oceanographic transect between Iceland and Scotland, and measured dissolved REE by offline automated chromatography (SeaFAST) and ICP-MS. The proximity to two continental boundaries, the incipient spring bloom coincident with the timing of the cruise, and the importance of deep water circulation in this climatically sensitive gateway region make it an ideal location to investigate sources of REE to seawater and the effects of vertical cycling and lateral advection on their distribution. The deep waters have REE concentrations closest to typical North Atlantic seawater and are dominated by lateral advection. Comparison to published seawater REE concentrations of the same water masses in other locations provides a first measure of the temporal and spatial stability of the seawater REE signal. We demonstrate the REE pattern is replicated for Iceland-Scotland Overflow Water (ISOW) in the Iceland Basin from adjacent stations sampled 16 years previously. A recently published Labrador Sea Water (LSW) dissolved REE signal is reproduced in the Rockall Trough but shows greater light and mid REE alteration in the Iceland Basin, possibly due to the dominant effect of ISOW and/or continental inputs. An obvious concentration gradient from seafloor sediments to the overlying water column in the Rockall Trough, but not the Iceland Basin, highlights release of light and mid REE from resuspended sediments and pore waters, possibly a seasonal effect associated with the timing of the spring bloom in each basin. The EEL dissolved oxygen minimum at the permanent pycnocline corresponds to positive heavy REE enrichment, indicating maximum rates of organic matter remineralisation and associated REE release. We tentatively suggest a bacterial role to account for the observed heavy REE deviations. This study highlights the need for fully constrained REE sources and sinks, including the temporary nature of some sources, to achieve a balanced budget of seawater REE

Data Preservation, Information Preservation, and Lifecyle of Information Management at NASA GES DISC

Data lifecycle management awareness is common today; planners are more likely to consider lifecycle issues at mission start. NASA remote sensing missions are typically subject to life cycle management plans of the Distributed Active Archive Center (DAAC), and NASA invests in these national centers for the long-term safeguarding and benefit of future generations. As stewards of older missions, it is incumbent upon us to ensure that a comprehensive enough set of information is being preserved to prevent the risk for information loss. This risk is greater when the original data experts have moved on or are no longer available. Preservation of items like documentation related to processing algorithms, pre-flight calibration data, or input-output configuration parameters used in product generation, are examples of digital artifacts that are sometimes not fully preserved. This is the grey area of information preservation; the importance of these items is not always clear and requires careful consideration. Missing important metadata about intermediate steps used to derive a product could lead to serious challenges in the reproducibility of results or conclusions. Organizations are rapidly recognizing that the focus of life-cycle preservation needs to be enlarged from the strict raw data to the more encompassing arena of information lifecycle management. By understanding what constitutes information, and the complexities involved, we are better equipped to deliver longer lasting value about the original data and derived knowledge (information) from them. The NASA Earth Science Data Preservation Content Specification is an attempt to define the content necessary for long-term preservation. It requires new lifecycle infrastructure approach along with content repositories to accommodate artifacts other than just raw data. The NASA Goddard Earth Sciences Data and Information Services Center (GES DISC) setup an open-source Preservation System capable of long-term archive of digital content to augment its raw data holding. This repository is being used for such missions as HIRDLS, UARS, TOMS, OMI, among others. We will provide a status of this implementation; report on challenges, lessons learned, and detail our plans for future evolution to include other missions and services

East Asia and the global/transatlantic/Western crisis

This paper introduces the special collection on East Asia and the Global Crisis. After justifying why a focus on East Asia is appropriate, it draws out the main themes that run through the individual contributions. These are the extent to which the region is decoupling from the global economy (or the West), the increasing legitimacy of statist alternatives to neoliberal development strategies, and the impact of crises on the definition of ―region‖ and the functioning of regional institutions and governance mechanisms

Measurement of the antineutrino neutral-current elastic differential cross section

arXiv:1309.7257v1 [hep-ex