We assessed the pan-cancer predictability of multi-omic biomarkers from haematoxylin and eosin (H&E)-stained whole slide image (WSI) using deep learning and standard evaluation measures throughout a systematic study. A total of 13,443 deep learning (DL) models predicting 4,481 multi-omic biomarkers across 32 cancer types were trained and validated. The investigated biomarkers included genetic mutations, transcriptomic (mRNA) and proteomic under- and over-expression status, metabolomic pathways, established markers relevant for prognosis, including gene expression signatures, molecular subtypes, clinical outcomes and response to treatment. Overall, we established the general feasibility of predicting multi-omic markers across solid cancer types, where 50% of the models could predict biomarkers with the area under the curve (AUC) of more than 0.633 (with 25% of the models having AUC larger than 0.711). Aggregating across the omic types, our deep learning models achieved the following performance: mean AUC of 0.634 ±0.117 in predicting driver SNV mutations; 0.637 ±0.108 for over-/under-expression of transcriptomic genes; 0.666 ±0.108 for over-/under-expression of proteomes; 0.564 ±0.081 for metabolomic pathways; 0.653 ±0.097 for gene signatures and molecular subtypes; 0.742 ±0.120 for standard of care biomarkers; and 0.671 ±0.120 for clinical outcomes and treatment responses. The biomarkers were shown to be detectable from routine histology images across all investigated cancer types, with aggregate mean AUC exceeding 0.62 in almost all cancers. In addition, we observed that predictability is reproducible within-marker and less dependent on sample size and positivity ratio, indicating a degree of true predictability inherent to the biomarker itself.
The prediction of surrounding agents' motion is a key for safe autonomous driving. In this paper, we explore navigation maps as an alternative to the predominant High Definition (HD) maps for learning-based motion prediction. Navigation maps provide topological and geometrical information on road-level, HD maps additionally have centimeteraccurate lane-level information. As a result, HD maps are costly and time-consuming to obtain, while navigation maps with near-global coverage are freely available. We describe an approach to integrate navigation maps into learningbased motion prediction models. To exploit locally available HD maps during training, we additionally propose a modelagnostic method for knowledge distillation. In experiments on the publicly available Argoverse dataset with navigation maps obtained from OpenStreetMap, our approach shows a significant improvement over not using a map at all. Combined with our method for knowledge distillation, we achieve results that are close to the original HD map-reliant models. Our publicly available navigation map API for Argoverse enables researchers to develop and evaluate their own approaches using navigation maps 4 .
Despite the significant research efforts on trajectory prediction for automated driving, limited work exists on assessing the prediction reliability. To address this limitation we propose an approach that covers two sources of error, namely novel situations with out-of-distribution (OOD) detection and the complexity in in-distribution (ID) situations with uncertainty estimation. We introduce two modules next to an encoderdecoder network for trajectory prediction. Firstly, a Gaussian mixture model learns the probability density function of the ID encoder features during training, and then it is used to detect the OOD samples in regions of the feature space with low likelihood. Secondly, an error regression network is applied to the encoder, which learns to estimate the trajectory prediction error in supervised training. During inference, the estimated prediction error is used as the uncertainty. In our experiments, the combination of both modules outperforms the prior work in OOD detection and uncertainty estimation, on the Shifts robust trajectory prediction dataset by 2.8 % and 10.1 %, respectively. The code is publicly available 4 .
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