Search for: All records

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call MRTA-collective transport or MRTA-CT – here tasks present varying workloads and deadlines, and robots are subject to flight range, communication range, and payload constraints. For large instances of these problems involving 100s-1000’s of tasks and 10s-100s of robots, traditional non-learning solvers are often time-inefficient, and emerging learning-based policies do not scale well to larger-sized problems without costly retraining. To address this gap, we use a recently proposed encoder-decoder graph neural network involving Capsule networks and multi-head attention mechanism, and innovatively add topological descriptors (TD) as new features to improve transferability to unseen problems of similar and larger size. Persistent homology is used to derive the TD, and proximal policy optimization is used to train our TD-augmented graph neural network. The resulting policy model compares favorably to state-of-the-art non-learning baselines while being much faster. The benefit of using TD is readily evident when scaling to test problems of size larger than those used in training. 

Plasma cell-free DNA (cfDNA) is a noninvasive biomarker for cell death of all organs. Deciphering the tissue origin of cfDNA can reveal abnormal cell death because of diseases, which has great clinical potential in disease detection and monitoring. Despite the great promise, the sensitive and accurate quantification of tissue-derived cfDNA remains challenging to existing methods due to the limited characterization of tissue methylation and the reliance on unsupervised methods. To fully exploit the clinical potential of tissue-derived cfDNA, here we present one of the largest comprehensive and high-resolution methylation atlas based on 521 noncancer tissue samples spanning 29 major types of human tissues. We systematically identified fragment-level tissue-specific methylation patterns and extensively validated them in orthogonal datasets. Based on the rich tissue methylation atlas, we develop the first supervised tissue deconvolution approach, a deep-learning-powered model, cfSort , for sensitive and accurate tissue deconvolution in cfDNA. On the benchmarking data, cfSort showed superior sensitivity and accuracy compared to the existing methods. We further demonstrated the clinical utilities of cfSort with two potential applications: aiding disease diagnosis and monitoring treatment side effects. The tissue-derived cfDNA fraction estimated from cfSort reflected the clinical outcomes of the patients. In summary, the tissue methylation atlas and cfSort enhanced the performance of tissue deconvolution in cfDNA, thus facilitating cfDNA-based disease detection and longitudinal treatment monitoring.