Policy Bifurcation in Safe Reinforcement Learning

Safe reinforcement learning (RL) offers advanced solutions to constrained optimal control problems. Existing studies in safe RL implicitly assume continuity in policy functions, where policies map states to actions in a smooth, uninterrupted manner; however, our research finds that in some scenarios, the feasible policy should be discontinuous or multi-valued, interpolating between discontinuous local optima can inevitably lead to constraint violations. We are the first to identify the generating mechanism of such a phenomenon, and employ topological analysis to rigorously prove the existence of policy bifurcation in safe RL, which corresponds to the contractibility of the reachable tuple. Our theorem reveals that in scenarios where the obstacle-free state space is non-simply connected, a feasible policy is required to be bifurcated, meaning its output action needs to change abruptly in response to the varying state. To train such a bifurcated policy, we propose a safe RL algorithm called multimodal policy optimization (MUPO), which utilizes a Gaussian mixture distribution as the policy output. The bifurcated behavior can be achieved by selecting the Gaussian component with the highest mixing coefficient. Besides, MUPO also integrates spectral normalization and forward KL divergence to enhance the policy's capability of exploring different modes. Experiments with vehicle control tasks show that our algorithm successfully learns the bifurcated policy and ensures satisfying safety, while a continuous policy suffers from inevitable constraint violations.

Self-supervised Fetal MRI 3D Reconstruction Based on Radiation Diffusion Generation Model

Although the use of multiple stacks can handle slice-to-volume motion correction and artifact removal problems, there are still several problems: 1) The slice-to-volume method usually uses slices as input, which cannot solve the problem of uniform intensity distribution and complementarity in regions of different fetal MRI stacks; 2) The integrity of 3D space is not considered, which adversely affects the discrimination and generation of globally consistent information in fetal MRI; 3) Fetal MRI with severe motion artifacts in the real-world cannot achieve high-quality super-resolution reconstruction. To address these issues, we propose a novel fetal brain MRI high-quality volume reconstruction method, called the Radiation Diffusion Generation Model (RDGM). It is a self-supervised generation method, which incorporates the idea of Neural Radiation Field (NeRF) based on the coordinate generation and diffusion model based on super-resolution generation. To solve regional intensity heterogeneity in different directions, we use a pre-trained transformer model for slice registration, and then, a new regionally Consistent Implicit Neural Representation (CINR) network sub-module is proposed. CINR can generate the initial volume by combining a coordinate association map of two different coordinate mapping spaces. To enhance volume global consistency and discrimination, we introduce the Volume Diffusion Super-resolution Generation (VDSG) mechanism. The global intensity discriminant generation from volume-to-volume is carried out using the idea of diffusion generation, and CINR becomes the deviation intensity generation network of the volume-to-volume diffusion model. Finally, the experimental results on real-world fetal brain MRI stacks demonstrate the state-of-the-art performance of our method.