Research on autonomous driving in unstructured outdoor environments is less advanced than in structured urban settings due to challenges like environmental diversities and scene complexity. These environments-such as rural areas and rugged terrains-pose unique obstacles that are not common in structured urban areas. Despite these difficulties, autonomous driving in unstructured outdoor environments is crucial for applications in agriculture, mining, and military operations. Our survey reviews over 250 papers for autonomous driving in unstructured outdoor environments, covering offline mapping, pose estimation, environmental perception, path planning, end-to-end autonomous driving, datasets, and relevant challenges. We also discuss emerging trends and future research directions. This review aims to consolidate knowledge and encourage further research for autonomous driving in unstructured environments. To support ongoing work, we maintain an active repository with up-to-date literature and open-source projects at: https://github.com/chaytonmin/Survey-Autonomous-Driving-in-Unstructured-Environments.

The emerging research shows that lncRNA has crucial research value in a series of complex human diseases. Therefore, the accurate identification of lncRNA-disease associations (LDAs) is very important for the warning and treatment of diseases. However, most of the existing methods have limitations in identifying nonlinear LDAs, and it remains a huge challenge to predict new LDAs. In this paper, a deep learning model based on a heterogeneous network and convolutional neural network (CNN) is proposed for lncRNA-disease association prediction, named HCNNLDA. The heterogeneous network containing the lncRNA, disease, and miRNA nodes, is constructed firstly. The embedding matrix of a lncRNA-disease node pair is constructed according to various biological premises about lncRNAs, diseases, and miRNAs. Then, the low-dimensional feature representation is fully learned by the convolutional neural network. In the end, the XGBoot classifier model is trained to predict the potential LDAs. HCNNLDA obtains a high AUC value of 0.9752 and AUPR of 0.9740 under the 5-fold cross-validation. The experimental results show that the proposed model has better performance than that of several latest prediction models. Meanwhile, the effectiveness of HCNNLDA in identifying novel LDAs is further demonstrated by case studies of three diseases. To sum up, HCNNLDA is a feasible calculation model to predict LDAs.

Scheduled batch jobs have been widely used on the asynchronous computing platforms to execute various enterprise applications, including the scheduled notifications and the candidate pre-computation for the modern recommender systems. It is important to deliver or update the information to the users at the right time to maintain the user experience and the execution impact. However, it is challenging to provide a versatile execution time optimization solution for the user-basis scheduled jobs to satisfy various product scenarios while maintaining reasonable infrastructure resource consumption. In this paper, we describe how we apply a learning-to-rank approach plus a "best time policy" in the best time selection. In addition, we propose an ensemble learner to minimize the ranking loss by efficiently leveraging multiple streams of user activity signals in our scheduling decisions of the execution time. Especially, we observe the cannibalization cross use cases to compete the user's peak time slot and introduce a coordination system to mitigate the problem. Our optimization approach has been successfully tested with production traffic that serves billions of users per day, with statistically significant improvements in various product metrics, including the notifications and content candidate generation. To the best of our knowledge, our study represents the first ML-based multi-tenant solution of the execution time optimization problem for the scheduled jobs at a large industrial scale cross different product domains.

The cup-to-disc ratio (CDR) is one of the most significant indicator for glaucoma diagnosis. Different from the use of costly fully supervised learning formulation with pixel-wise annotations in the literature, this study investigates the feasibility of accurate CDR measurement in fundus images using only tight bounding box supervision. For this purpose, we develop a two-task network for accurate CDR measurement, one for weakly supervised image segmentation, and the other for bounding-box regression. The weakly supervised image segmentation task is implemented based on generalized multiple instance learning formulation and smooth maximum approximation, and the bounding-box regression task outputs class-specific bounding box prediction in a single scale at the original image resolution. To get accurate bounding box prediction, a class-specific bounding-box normalizer and an expected intersection-over-union are proposed. In the experiments, the proposed approach was evaluated by a testing set with 1200 images using CDR error and F1 score for CDR measurement and dice coefficient for image segmentation. A grader study was conducted to compare the performance of the proposed approach with those of individual graders. The results demonstrate that the proposed approach outperforms the state-of-the-art performance obtained from the fully supervised image segmentation (FSIS) approach using pixel-wise annotation for CDR measurement, which is also better than those of individual graders. It also gets performance close to the state-of-the-art obtained from FSIS for optic cup and disc segmentation, similar to those of individual graders. The codes are available at \url{https://github.com/wangjuan313/CDRNet}.

This paper presents a weakly supervised image segmentation method that adopts tight bounding box annotations. It proposes generalized multiple instance learning (MIL) and smooth maximum approximation to integrate the bounding box tightness prior into the deep neural network in an end-to-end manner. In generalized MIL, positive bags are defined by parallel crossing lines with a set of different angles, and negative bags are defined as individual pixels outside of any bounding boxes. Two variants of smooth maximum approximation, i.e., $\alpha$-softmax function and $\alpha$-quasimax function, are exploited to conquer the numeral instability introduced by maximum function of bag prediction. The proposed approach was evaluated on two pubic medical datasets using Dice coefficient. The results demonstrate that it outperforms the state-of-the-art methods. The codes are available at \url{https://github.com/wangjuan313/wsis-boundingbox}.

Frequency control is an important problem in modern recommender systems. It dictates the delivery frequency of recommendations to maintain product quality and efficiency. For example, the frequency of delivering promotional notifications impacts daily metrics as well as the infrastructure resource consumption (e.g. CPU and memory usage). There remain open questions on what objective we should optimize to represent business values in the long term best, and how we should balance between daily metrics and resource consumption in a dynamically fluctuating environment. We propose a personalized methodology for the frequency control problem, which combines long-term value optimization using reinforcement learning (RL) with a robust volume control technique we termed "Effective Factor". We demonstrate statistically significant improvement in daily metrics and resource efficiency by our method in several notification applications at a scale of billions of users. To our best knowledge, our study represents the first deep RL application on the frequency control problem at such an industrial scale.