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Boundary-driven delayed-feedback control of spatiotemporal dynamics in excitable media. 可激介质时空动力学的边界驱动延迟反馈控制。
Pub Date : 2025-12-01
Sebastián Echeverría-Alar, Wouter-Jan Rappel

Scroll-wave instabilities in excitable domains are central to life-threatening arrhythmias, yet practical methods to stabilize these dynamics remain limited. Here, we investigate the effects of boundary layer heterogeneities in the spatiotemporal dynamics of a quasi-2D semidiscrete excitable model. We reveal that a novel boundary-driven mechanism suppresses meandering and chaotic spiral dynamics. We show how the strength of the heterogeneities mediates the emergence of this regulation through a pinning-unpinning-like transition. We derive a reduced 2D model and find that a decrease in bulk excitability and a boundary-driven delayed-feedback underlie the stabilization. Our results may point to alternative methods to control arrhythmias.

兴奋域的滚动波不稳定性是危及生命的心律失常的核心,但稳定这些动态的实用方法仍然有限。本文研究了边界层非均质性对准二维半离散可激模型时空动力学的影响。我们揭示了一种新的边界驱动机制抑制蜿蜒和混沌螺旋动力学。我们展示了异质性的强度是如何通过钉-开-钉样转变介导这种调节的出现的。我们推导了一个简化的二维模型,并发现体兴奋性的降低和边界驱动的延迟反馈是稳定的基础。我们的结果可能指向控制心律失常的替代方法。
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引用次数: 0
Polarization-Sensitive Module for Optical Coherence Tomography Instruments. 光学相干层析成像仪器偏振敏感模块。
Pub Date : 2025-11-30
Po-Yi Lee, Chuan-Bor Chueh, Milen Shishkov, Tai-Ang Wang, Hsiang-Chieh Lee, Teresa Chen, Brett E Bouma, Martin Villiger

Polarization-sensitive optical coherence tomography (PS-OCT) extends OCT by analyzing the polarization states of backscattered light to quantify tissue birefringence. However, conventional implementations require polarization-diverse detection and are therefore incompatible with most commercial OCT systems. As a result, PS-OCT has largely remained restricted to specialized research groups, limiting its broader scientific and clinical use. Here, we present a modular PS-OCT framework that integrates with a standard spectral-domain OCT platform through a detachable rotating achromatic half-wave plate in the sample arm. This waveplate modulates both incident and reflected polarization states. Three or more repeated measurements at distinct waveplate orientations enable reconstruction of the sample's round-trip Jones matrix and the corresponding polarization properties. To mitigate random phase variations between repeated measurements, we introduce a retarder-constrained phase optimization strategy. We validate the framework with imaging of birefringent phantoms and the human retina in vivo, demonstrating reliable reconstruction of retardance and optic axis orientation. This approach requires only minimal hardware modification and is readily deployable on mainstream OCT systems. Lowering technical barriers paves the way for rapid and widespread deployment of PS-OCT across diverse biomedical applications in both research and clinical environments.

偏振敏感光学相干层析成像(PS-OCT)通过分析背散射光的偏振状态来量化组织双折射,从而扩展了OCT。然而,传统的实现需要偏振多样化的检测,因此与大多数商业OCT系统不兼容。因此,PS-OCT在很大程度上仍然局限于专门的研究小组,限制了其更广泛的科学和临床应用。在这里,我们提出了一个模块化的PS-OCT框架,该框架通过样品臂中的可拆卸旋转消色差半波片与标准的光谱域OCT平台集成。该波片调制入射偏振态和反射偏振态。在不同的波片方向上进行三次或更多次重复测量,可以重建样品的往返琼斯矩阵和相应的偏振特性。为了减轻重复测量之间的随机相位变化,我们引入了一种延迟器约束的相位优化策略。我们用双折射幻影和人视网膜在体内的成像验证了该框架,证明了延迟和光轴方向的可靠重建。这种方法只需要最小的硬件修改,并且很容易部署在主流OCT系统上。降低技术壁垒为PS-OCT在研究和临床环境中的各种生物医学应用的快速和广泛部署铺平了道路。
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引用次数: 0
Dynamical Inference of Cell Size Regulation Parameters. 电池尺寸调节参数的动态推断。
Pub Date : 2025-11-27
César Nieto, Sayeh Rezaee, Cesar Augusto Vargas-Garcia, Abhyudai Singh

Cells achieve size homeostasis by regulating their division timing based on their size, added size, and cell cycle time. Previous research under steady-state conditions demonstrated the robustness of these mechanisms. However, their dynamic responses in fluctuating environments, such as nutrient depletion due to population growth, remain challenging to fully characterize. Currently, advances in single-cell microscopy have revealed various cellular division strategies whose underlying molecular mechanisms are complex and not always available. This study introduces a novel approach to model cell size dynamics using a piecewise deterministic Markov chain framework, where cell division events are modeled as stochastic jumps determined by a division propensity dependent on both current cell size and added size since birth. We propose a three-parameter characterization for the division process: scale (target added size at division), shape (division stochasticity), and division strategy (relevance of cell size, added size, or cell cycle duration). We derive analytical formulas for the probability of division, and with this probability, we develop a maximum likelihood estimation (MLE) framework. We implement a systematic investigation of the accuracy of inference as a function of sample size. The model's performance is studied across various scenarios, including those exhibiting dynamical changes in one or more parameters, suggesting its broad applicability for analyzing new experimental data on cell size regulation in dynamic environments.

细胞通过根据自身大小、附加大小和细胞周期时间调节分裂时间来实现细胞大小的内稳态。先前在稳态条件下的研究证明了这些机制的鲁棒性。然而,它们在波动环境中的动态响应,如人口增长导致的养分消耗,仍然具有挑战性。目前,单细胞显微镜技术的进步揭示了各种细胞分裂策略,其潜在的分子机制是复杂的,并不总是可用的。本研究引入了一种使用分段确定性马尔可夫链框架来模拟细胞大小动态的新方法,其中细胞分裂事件被建模为随机跳跃,由依赖于当前细胞大小和自出生以来增加的大小的分裂倾向决定。我们提出了分裂过程的三个参数表征:规模(分裂时目标增加的大小)、形状(分裂随机性)和分裂策略(细胞大小、增加的大小或细胞周期持续时间的相关性)。我们推导了除法概率的解析公式,并利用这个概率,我们开发了一个最大似然估计(MLE)框架。我们对作为样本量函数的推理精度进行了系统的调查。该模型的性能在各种情况下进行了研究,包括那些在一个或多个参数中表现出动态变化的情况,表明其广泛适用于分析动态环境中细胞尺寸调节的新实验数据。
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引用次数: 0
Autonomous labeling of surgical resection margins using a foundation model. 基于基础模型的手术切除边缘自动标记。
Pub Date : 2025-11-27
Xilin Yang, Musa Aydin, Yuhong Lu, Sahan Yoruc Selcuk, Bijie Bai, Yijie Zhang, Andrew Birkeland, Katjana Ehrlich, Julien Bec, Laura Marcu, Nir Pillar, Aydogan Ozcan

Assessing resection margins is central to pathological specimen evaluation and has profound implications for patient outcomes. Current practice employs physical inking, which is applied variably, and cautery artifacts can obscure the true margin on histological sections. We present a virtual inking network (VIN) that autonomously localizes the surgical cut surface on whole-slide images, reducing reliance on inks and standardizing margin-focused review. VIN uses a frozen foundation model as the feature extractor and a compact two-layer multilayer perceptron trained for patch-level classification of cautery-consistent features. The dataset comprised 120 hematoxylin and eosin (H&E) stained slides from 12 human tonsil tissue blocks, resulting in ~2 TB of uncompressed raw image data, where a board-certified pathologist provided boundary annotations. In blind testing with 20 slides from previously unseen blocks, VIN produced coherent margin overlays that qualitatively aligned with expert annotations across serial sections. Quantitatively, region-level accuracy was ~73.3% across the test set, with errors largely confined to limited areas that did not disrupt continuity of the whole-slide margin map. These results indicate that VIN captures cautery-related histomorphology and can provide a reproducible, ink-free margin delineation suitable for integration into routine digital pathology workflows and for downstream measurement of margin distances.

评估切除边缘是病理标本评估的核心,对患者的预后有深远的影响。目前的做法采用物理油墨,这是可变的应用,和烧灼文物可以模糊真正的边缘在组织学切片。我们提出了一种虚拟油墨网络(VIN),它可以在整个幻灯片图像上自主定位手术切口,减少对油墨的依赖,并标准化边缘聚焦审查。VIN使用冻结基础模型作为特征提取器,并使用紧凑的两层多层感知器训练用于烧碱一致特征的斑块级分类。该数据集包括来自12个人类扁桃体组织块的120张苏木精和伊红(H&E)染色玻片,产生约2tb未压缩的原始图像数据,其中由委员会认证的病理学家提供边界注释。在对20张以前未见过的幻灯片进行盲测时,VIN生成了连贯的边缘叠加,这些边缘叠加与连续部分的专家注释在质量上保持一致。在定量上,整个测试集的区域级精度为~73.3%,误差主要局限于不破坏整个滑动边缘图连续性的有限区域。这些结果表明,VIN可以捕获与烧碱相关的组织形态学,并可以提供可重复的无墨水边缘描绘,适合集成到常规数字病理工作流程中,并用于边缘距离的下游测量。
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引用次数: 0
Accelerating mesh-based Monte Carlo simulations using contemporary graphics ray-tracing hardware. 使用现代图形光线追踪硬件加速基于网格的蒙特卡罗模拟。
Pub Date : 2025-11-27
Shijie Yan, Douglas Dwyer, David R Kaeli, Qianqian Fang

Significance: Monte Carlo (MC) methods are the gold-standard for modeling light-tissue interactions due to their accuracy. Mesh-based MC (MMC) offers enhanced precision for complex tissue structures using tetrahedral mesh models. Despite significant speedups achieved on graphics processing units (GPUs), MMC performance remains hindered by the computational cost of frequent ray-boundary intersection tests.

Aim: We propose a highly accelerated MMC algorithm, RT-MMC, that leverages the hardware-accelerated ray traversal and intersection capabilities of ray-tracing cores (RT-cores) on modern GPUs.

Approach: Implemented using NVIDIA's OptiX platform, RT-MMC extends graphics ray-tracing pipelines towards volumetric ray-tracing in turbid media, eliminating the need for challenging tetrahedral mesh generation while delivering significant speed improvements through hardware acceleration. It also intrinsically supports wide-field sources without complex mesh retesselation.

Results: RT-MMC demonstrates excellent agreement with traditional software-ray-tracing MMC algorithms while achieving 1.5× to 4.5× speedups across multiple GPU architectures. These performance gains significantly enhance the practicality of MMC for routine simulations.

Conclusion: Migration from software- to hardware-based ray-tracing not only greatly simplifies MMC simulation workflows, but also results in significant speedups that are expected to increase further as ray-tracing hardware rapidly gains adoption. Adoption of graphics ray-tracing pipelines in quantitative MMC simulations enables leveraging of emerging hardware resources and benefits a wide range of biophotonics applications.

意义:蒙特卡罗(MC)方法由于其准确性而成为光组织相互作用建模的金标准。基于网格的MC (MMC)使用四面体网格模型为复杂的组织结构提供了更高的精度。尽管图形处理单元(gpu)实现了显著的加速,但频繁的射线边界相交测试的计算成本仍然阻碍了MMC的性能。目的:我们提出了一种高度加速的MMC算法,RT-MMC,它利用了现代gpu上光线追踪核心(rt -核)的硬件加速光线遍历和交叉能力。方法:使用NVIDIA的OptiX平台实现,RT-MMC将图形光线跟踪管道扩展到浑浊介质中的体积光线跟踪,消除了对具有挑战性的四面体网格生成的需要,同时通过硬件加速提供了显着的速度提高。它也本质上支持宽视场源没有复杂的网格重新定位。结果:RT-MMC与传统的软件光线追踪MMC算法表现出良好的一致性,同时在多个GPU架构上实现1.5到4.5倍的加速。这些性能的提高大大提高了MMC在日常模拟中的实用性。结论:从基于软件的光线追踪到基于硬件的光线追踪的迁移不仅大大简化了MMC模拟工作流程,而且随着光线追踪硬件的迅速普及,速度也会显著提高。在定量MMC模拟中采用图形光线追踪管道可以利用新兴的硬件资源,并有利于广泛的生物光子学应用。
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引用次数: 0
GACELLE: GPU-accelerated tools for model parameter estimation and image reconstruction. GACELLE:用于模型参数估计和图像重建的gpu加速工具。
Pub Date : 2025-11-27
Kwok-Shing Chan, Hansol Lee, Yixin Ma, Berkin Bilgic, Susie Y Huang, Hong-Hsi Lee, José P Marques

Quantitative MRI (qMRI) offers tissue-specific biomarkers that can be tracked over time or compared across populations; however, its adoption in clinical research is hindered by significant computational demands of parameter estimation. Images acquired at high spatial resolution and/or requiring fitting for multiple parameters often require lengthy processing time, constraining their use in routine pipelines and slowing methodological innovation and clinical translation. We present GACELLE, an open source, GPU-accelerated framework for high-throughput qMRI analysis. GACELLE unifies a stochastic gradient descent optimiser (askadam.m) and a stochastic sampler (mcmc.m) under a common interface in MATLAB, enabling fast parameter mapping, improved estimation robustness via spatial regularisation, and uncertainty quantification. GACELLE prioritises accessibility and ease of integration: users only need to provide a forward signal model, while GACELLE's backend manages computational parallelisation, automatic parameter updates, and memory-efficient batching. The stochastic solver performs fully vectorised Markov chain Monte Carlo with identical likelihoods on CPU and GPU, ensuring reproducibility across hardware. Benchmarking demonstrates up to 451-fold acceleration for the stochastic gradient descent solver and 14,380-fold acceleration for stochastic sampling compared to CPU-based estimation, without compromising quantitative accuracy. We demonstrate GACELLE's versatility on three representative qMRI models and on an image reconstruction task. Across these applications, GACELLE improves parameter precision, enhances test-retest reproducibility, and reduces noise in quantitative maps. By combining speed, usability and flexibility, GACELLE provides a generalisable optimisation framework for medical image analysis. It lowers the computational barrier for advanced qMRI, paving the way for reproducible biomarker development, large-scale imaging studies, and clinical translation.

定量MRI (qMRI)提供了组织特异性的生物标志物,可以随时间跟踪或在人群中进行比较;然而,其在临床研究中的应用受到参数估计的大量计算需求的阻碍。以高空间分辨率获取的图像或需要拟合多个参数的图像通常需要较长的处理时间,这限制了它们在常规管道中的使用,并减缓了方法创新和临床转化。我们提出了GACELLE,一个开源的gpu加速框架,用于高通量qMRI分析。GACELLE在MATLAB中提供随机梯度下降优化器和随机采样器,实现快速参数映射,通过空间正则化和不确定性量化提高估计鲁棒性。GACELLE优先考虑可访问性:用户只需要提供一个前向信号模型,而GACELLE的后端管理计算并行化,自动参数更新和内存批处理。随机求解器在CPU和GPU上以相同的似然执行完全向量化的马尔可夫链蒙特卡罗,确保了跨硬件的再现性。基准测试表明,与基于cpu的估计相比,随机梯度下降求解器的加速高达451倍,随机抽样的加速高达14,380倍,而不会影响准确性。我们在三个代表性的qMRI模型和图像重建任务上展示了GACELLE的多功能性。在这些应用中,GACELLE提高了参数精度,增强了测试-重复测试的可重复性,并减少了定量图中的噪声。通过结合速度、可用性和灵活性,GACELLE为医学图像分析提供了一个通用的优化框架。它降低了qMRI的计算障碍,为可重复的生物标志物开发、大规模成像研究和临床翻译铺平了道路。
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引用次数: 0
Deep Learning Architectures for Code-Modulated Visual Evoked Potentials Detection. 编码调制视觉诱发电位检测的深度学习架构。
Pub Date : 2025-11-26
Kiran Nair, Hubert Cecotti

Non-invasive Brain-Computer Interfaces (BCIs) based on Code-Modulated Visual Evoked Potentials (C-VEPs) require highly robust decoding methods to address temporal variability and session-dependent noise in EEG signals. This study proposes and evaluates several deep learning architectures, including convolutional neural networks (CNNs) for 63-bit m-sequence reconstruction and classification, and Siamese networks for similarity-based decoding, alongside canonical correlation analysis (CCA) baselines. EEG data were recorded from 13 healthy adults under single-target flicker stimulation. The proposed deep models significantly outperformed traditional approaches, with distance-based decoding using Earth Mover's Distance (EMD) and constrained EMD showing greater robustness to latency variations than Euclidean and Mahalanobis metrics. Temporal data augmentation with small shifts further improved generalization across sessions. Among all models, the multi-class Siamese network achieved the best overall performance with an average accuracy of 96.89%, demonstrating the potential of data-driven deep architectures for reliable, single-trial C-VEP decoding in adaptive non-invasive BCI systems.

基于编码调制视觉诱发电位(C-VEPs)的无创脑机接口(bci)需要高度鲁棒的解码方法来处理脑电信号中的时间变异性和会话依赖性噪声。本研究提出并评估了几种深度学习架构,包括用于63位m序列重建和分类的卷积神经网络(cnn),以及用于基于相似性解码的暹罗网络,以及典型相关分析(CCA)基线。在单目标闪烁刺激下记录13例健康成人的脑电图数据。所提出的深度模型明显优于传统方法,使用地球移动距离(EMD)和约束EMD的基于距离的解码比欧几里得和马氏度量对延迟变化表现出更强的鲁棒性。小位移的时态数据增强进一步提高了会话间的泛化。在所有模型中,多类Siamese网络的整体性能最好,平均准确率为96.89%,显示了数据驱动的深度架构在自适应无创BCI系统中可靠的单次C-VEP解码的潜力。
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引用次数: 0
Effective Hyper-clutter Artifacts Suppression for Ultrafast Ultrasound Doppler Imaging. 超快超声多普勒成像中超杂波伪影的有效抑制。
Pub Date : 2025-11-26
Lijie Huang, Jingyi Yin, Jingke Zhang, U-Wai Lok, Ryan M DeRuiter, Kaipeng Ji, Yanzhe Zhao, Tao Wu, James D Krier, Xiang-Yang Zhu, Andrew J Bentall, Andrew D Rule, Thomas D Atwell, Lilach O Lerman, Shigao Chen, Chengwu Huang

Objective: Hyper-clutter artifacts (HCA), arising from strong tissue reflections or physiological motion, present persistent challenges in ultrafast ultrasound Doppler imaging, often obscuring surrounding small vessel flow signals, especially in fascial regions such as the renal capsule. This study proposes U-profile-based decluttering (UPBD), a robust and computationally efficient method that exploits singular value decomposition (SVD)-derived spatial singular vectors to suppress HCA in ultrafast Doppler imaging.

Methods: UPBD analyzes intensity profile of each pixel along the singular-order dimension of the SVD-derived left singular vectors U. A pixel-wise clutter-energy ratio is computed to derive a spatially adaptive declutter weighting map, which is applied to the SVD-filtered flow signals.

Results: UPBD was evaluated on multiple in vivo datasets. Quantitative assessments based on contrast-to-noise ratio (CNR) and contrast-to-tissue ratio (CTR) demonstrated significant improvements over conventional SVD filtering. For example, UPBD enhanced CTR from 7.3 dB to 21.7 dB in contrast-free pig kidney, 17.8 dB to 42.1 dB in contrast-enhanced pig kidney, 8.2 dB to 32.8 dB in human kidney, and -4.9 dB to 3.7 dB in 3D human liver.

Conclusion: The proposed UPBD method effectively suppresses HCA while preserving blood flow signals with minimal extra computational cost and no need for extensive parameter tuning.

Significance: UPBD serves as a lightweight, easily integrated post-processing method that enhances HCA suppression, enabling broader application of SVD-based ultrafast Doppler imaging.

目的:超杂波伪影(HCA)是由强烈的组织反射或生理运动引起的,对超快超声多普勒成像提出了持续的挑战,通常会模糊周围的小血管血流信号,特别是在肾包膜等膜区。本研究提出了基于u型谱的消噪(UPBD),这是一种鲁棒且计算效率高的方法,利用奇异值分解(SVD)衍生的空间奇异向量来抑制超快多普勒成像中的HCA。方法:UPBD分析每个像素沿奇异向量u奇异维的强度分布,计算逐像素的杂波能量比,得出空间自适应的去噪加权图,并将其应用于奇异向量d滤波后的流信号。结果:UPBD在多个体内数据集上进行了评估。基于对比噪声比(CNR)和对比组织比(CTR)的定量评估表明,与传统的SVD滤波相比,该方法有显著改善。例如,UPBD将无对比猪肾的CTR从7.3 dB提高到21.7 dB,将对比增强猪肾的CTR从17.8 dB提高到42.1 dB,将人肾的CTR从8.2 dB提高到32.8 dB,将3D人肝的CTR从-4.9 dB提高到3.7 dB。结论:所提出的UPBD方法有效地抑制了HCA,同时保留了血流信号,额外的计算成本最小,不需要大量的参数调整。意义:UPBD作为一种轻量级、易于集成的后处理方法,增强了对HCA的抑制,使基于svd的超快多普勒成像得到更广泛的应用。
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引用次数: 0
Fast 3D Ultrasound Localization Microscopy via Projection-based Processing Framework. 基于投影处理框架的快速3D超声定位显微镜。
Pub Date : 2025-11-26
Jingke Zhang, Jingyi Yin, U-Wai Lok, Lijie Huang, Ryan M DeRuiter, Tao Wu, Kaipeng Ji, Yanzhe Zhao, James D Krier, Xiang-Yang Zhu, Lilach O Lerman, Chengwu Huang, Shigao Chen

Three-dimensional ultrasound localization microscopy (ULM) enables comprehensive visualization of the vasculature, thereby improving diagnostic reliability. Nevertheless, its clinical translation remains challenging, as the exponential growth in voxel count for full 3D reconstruction imposes heavy computational demands and extensive post-processing time. In this row-column array (RCA)-based 3D in vivo pig kidney ULM study, we reformulate each step of the full 3D ULM pipeline, including beamforming, clutter filtering, motion estimation, microbubble separation and localization into a series of computational-efficient 2D operations, substantially reducing the number of voxels to be processed while maintaining comparable accuracy. The proposed framework reconstructs each 0.75-s ensemble acquired at frame rate of 400 Hz, covering a 25*27.4*27.4 mm3 volume, in 0.52 s (70% of the acquisition time) on a single RTX A6000 Ada GPU, while maintaining ULM image quality comparable to conventional 3D processing. Quantitatively, it achieves a structural similarity index (SSIM) of 0.93 between density maps and a voxel-wise velocity agreement with slope of 0.93 and R2 = 0.88, closely matching conventional 3D results, and for the first time, demonstrating potential for real-time feedback during scanning, which could improve robustness, reduce operator dependence and accelerate clinical workflows.

三维超声定位显微镜(ULM)可以实现血管系统的全面可视化,从而提高诊断的可靠性。然而,它的临床翻译仍然具有挑战性,因为全3D重建的体素数呈指数增长,带来了大量的计算需求和大量的后处理时间。在这项基于行列阵列(RCA)的3D活体猪肾ULM研究中,我们将完整的3D ULM流程的每一步,包括波束形成、杂波滤波、运动估计、微泡分离和定位,重新制定为一系列计算效率高的2D操作,在保持相当精度的同时,大大减少了需要处理的体素数量。该框架在单个RTX A6000 Ada GPU上以400 Hz帧率重建每个0.75 s的集成,覆盖25*27.4*27.4 mm3的体积,在0.52 s(采集时间的70%)内,同时保持与传统3D处理相当的ULM图像质量。在定量上,它在密度图和体素速度之间的结构相似指数(SSIM)为0.93,斜率为0.93,R2 = 0.88,与传统的3D结果非常接近,并且首次展示了在扫描过程中实时反馈的潜力,这可以提高鲁棒性,减少操作员依赖并加快临床工作流程。
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引用次数: 0
Massively Parallel Imitation Learning of Mouse Forelimb Musculoskeletal Reaching Dynamics. 小鼠前肢肌肉骨骼伸展动力学的大规模平行模仿学习。
Pub Date : 2025-11-26
Eric Leonardis, Akira Nagamori, Ayesha Thanawalla, Yuanjia Yang, Joshua Park, Hutton Saunders, Eiman Azim, Talmo D Pereira

The brain has evolved to effectively control the body, and in order to understand the relationship we need to model the sensorimotor transformations underlying embodied control. As part of a coordinated effort, we are developing a general-purpose platform for data-driven simulation modeling high fidelity behavioral dynamics, biomechanics, and neural circuit architectures underlying embodied control. We present a pipeline for taking kinematics data from the neuroscience lab and creating a pipeline for recapitulating those natural movements in physics simulation. We implement an imitation learning framework to simulate a dexterous forelimb reaching task with a musculoskeletal model in the Mujoco physics environment. The imitation learning model is currently training at more than 1 million training steps per second due to GPU acceleration with JAX and Mujoco-MJX. We present results that indicate that adding naturalistic constraints on control magnitude lead to simulated muscle activity that better predicts real EMG signals. This work provides evidence to suggest that control constraints are critical to modeling biological movement control.

大脑已经进化到能够有效地控制身体,为了理解这种关系,我们需要对具体化控制背后的感觉运动转换进行建模。作为协同努力的一部分,我们正在开发一个通用平台,用于行为驱动仿真建模高保真行为动力学,生物力学和隐含控制的神经电路架构。我们提出了一个从神经科学实验室获取运动学数据的管道,并创建了一个在生物力学模型中概括这些自然运动的管道。我们实现了一个模仿学习框架,在模拟物理环境中使用肌肉骨骼模型来执行灵巧的前肢伸展任务。由于JAX和Mujoco-MJX的GPU加速,鼠标手臂模型目前的训练速度超过每秒100万步。我们提出的结果表明,增加能量和速度的自然约束导致模拟肌肉骨骼活动,更好地预测真实的肌电信号。这项工作提供的证据表明,能量和控制约束是模拟肌肉骨骼运动控制的关键。
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引用次数: 0
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