Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of annotated training data in a variety of conditions and environments. We present a new simulator built on Unreal Engine that offers physically and visually realistic simulations for both of these goals. Our simulator includes a physics engine that can operate at a high frequency for real-time hardware-in-the-loop (HITL) simulations with support for popular protocols (e.g. MavLink). The simulator is designed from the ground up to be extensible to accommodate new types of vehicles, hardware platforms and software protocols. In addition, the modular design enables various components to be easily usable independently in other projects. We demonstrate the simulator by first implementing a quadrotor as an autonomous vehicle and then experimentally comparing the software components with real-world flights.

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Discriminative methods for visual object category recognition are typically non-probabilistic, predicting class labels but not directly providing an estimate of uncertainty. Gaussian Processes (GPs) are powerful regression techniques with explicit uncertainty models; we show here how Gaussian Processes with covariance functions defined based on a Pyramid Match Kernel (PMK) can be used for probabilistic object category recognition. The uncertainty model provided by GPs offers confidence estimates at test points, and naturally allows for an active learning paradigm in which points are optimally selected for interactive labeling. We derive a novel active category learning method based on our probabilistic regression model, and show that a significant boost in classification performance is possible, especially when the amount of training data for a category is ultimately very small.

SUMMARY Common sequence variants in cis-regulatory elements (CREs) are suspected etiological causes of complex disorders. We previously identified an intronic enhancer variant in the RET gene disrupting SOX10 binding and increasing Hirschsprung disease (HSCR) risk 4-fold. We now show that two other functionally independent CRE variants, one binding Gata2 and the other binding Rarb, also reduce Ret expression and increase risk 2- and 1.7-fold. By studying human and mouse fetal gut tissues and cell lines, we demonstrate that reduced RET expression propagates throughout its gene regulatory network, exerting effects on both its positive and negative feedback components. We also provide evidence that the presence of a combination of CRE variants synergistically reduces RET expression and its effects throughout the GRN. These studies show how the effects of functionally independent non-coding variants in a coordinated gene regulatory network amplify their individually small effects, providing a model for complex disorders.