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While robust optimal control theory provides a rigorous framework to compute robot control policies that are provably safe, it struggles to scale to high- dimensional problems, leading to increased use of deep learning for tractable synthesis of robot safety. Unfortunately, existing neural safety synthesis methods often lack convergence guarantees and solution interpretability. In this paper, we present Minimax Actors Guided by Implicit Critic Stackelberg (MAGICS), a novel adversarial reinforcement learning (RL) algorithm that guarantees local convergence to a minimax equilibrium solution. We then build on this approach to provide local convergence guarantees for a general deep RL-based robot safety synthesis algorithm. Through both simulation studies on OpenAI Gym environ- ments and hardware experiments with a 36-dimensional quadruped robot, we show that MAGICS can yield robust control policies outperforming the state- of-the-art neural safety synthesis methods. 

Collecting large-scale medical datasets with fully annotated samples for training of deep networks is prohibitively expensive, especially for 3D volume data. Recent breakthroughs in self-supervised learning (SSL) offer the ability to overcome the lack of labeled training samples by learning feature representations from unlabeled data. However, most current SSL techniques in the medical field have been designed for either 2D images or 3D volumes. In practice, this restricts the capability to fully leverage unlabeled data from numerous sources, which may include both 2D and 3D data. Additionally, the use of these pre-trained networks is constrained to downstream tasks with compatible data dimensions.In this paper, we propose a novel framework for unsupervised joint learning on 2D and 3D data modalities. Given a set of 2D images or 2D slices extracted from 3D volumes, we construct an SSL task based on a 2D contrastive clustering problem for distinct classes. The 3D volumes are exploited by computing vectored embedding at each slice and then assembling a holistic feature through deformable self-attention mechanisms in Transformer, allowing incorporating long-range dependencies between slices inside 3D volumes. These holistic features are further utilized to define a novel 3D clustering agreement-based SSL task and masking embedding prediction inspired by pre-trained language models. Experiments on downstream tasks, such as 3D brain segmentation, lung nodule detection, 3D heart structures segmentation, and abnormal chest X-ray detection, demonstrate the effectiveness of our joint 2D and 3D SSL approach. We improve plain 2D Deep-ClusterV2 and SwAV by a significant margin and also surpass various modern 2D and 3D SSL approaches. 

Abstract We present a novel photonic chip design for high bandwidth four-degree optical switches that support high-dimensional switching mechanisms with low insertion loss and low crosstalk in a low power consumption level and a short switching time. Such four-degree photonic chips can be used to build an integrated full-grid Photonic-on-Chip Network (PCN). With four distinct input/output directions, the proposed photonic chips are superior compared to the current bidirectional photonic switches, where a conventionally sizable PCN can only be constructed as a linear chain of bidirectional chips. Our four-directional photonic chips are more flexible and scalable for the design of modern optical switches, enabling the construction of multi-dimensional photonic chip networks that are widely applied for intra-chip communication networks and photonic data centers. More noticeably, our photonic networks can be self-controlling with our proposed Multi-Sample Discovery model, a deep reinforcement learning model based on Proximal Policy Optimization. On a PCN, we can optimize many criteria such as transmission loss, power consumption, and routing time, while preserving performance and scaling up the network with dynamic changes. Experiments on simulated data demonstrate the effectiveness and scalability of the proposed architectural design and optimization algorithm. Perceivable insights make the constructed architecture become the self-controlling photonic-on-chip networks.