Acoustical knee health assessment has long promised an alternative to clinically available medical imaging tools, but this modality has yet to be adopted in medical practice. The field is currently led by machine learning models processing acoustical features, which have presented promising diagnostic performances. However, these methods overlook the intricate multi-source nature of audio signals and the underlying mechanisms at play. By addressing this critical gap, the present paper introduces a novel causal framework for validating knee acoustical features. We argue that current machine learning methodologies for acoustical knee diagnosis lack the required assurances and thus cannot be used to classify acoustic features as biomarkers. Our framework establishes a set of essential theoretical guarantees necessary to validate this claim. We apply our methodology to three real-world experiments investigating the effect of researchers' expectations, the experimental protocol and the wearable employed sensor. This investigation reveals latent issues such as underlying shortcut learning and performance inflation. This study is the first independent result reproduction study in the field of acoustical knee health evaluation. We conclude with actionable insights from our findings, offering valuable guidance to navigate these crucial limitations in future research.
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The advent of foundation models (FMs) in healthcare offers unprecedented opportunities to enhance medical diagnostics through automated classification and segmentation tasks. However, these models also raise significant concerns about their fairness, especially when applied to diverse and underrepresented populations in healthcare applications. Currently, there is a lack of comprehensive benchmarks, standardized pipelines, and easily adaptable libraries to evaluate and understand the fairness performance of FMs in medical imaging, leading to considerable challenges in formulating and implementing solutions that ensure equitable outcomes across diverse patient populations. To fill this gap, we introduce FairMedFM, a fairness benchmark for FM research in medical imaging.FairMedFM integrates with 17 popular medical imaging datasets, encompassing different modalities, dimensionalities, and sensitive attributes. It explores 20 widely used FMs, with various usages such as zero-shot learning, linear probing, parameter-efficient fine-tuning, and prompting in various downstream tasks -- classification and segmentation. Our exhaustive analysis evaluates the fairness performance over different evaluation metrics from multiple perspectives, revealing the existence of bias, varied utility-fairness trade-offs on different FMs, consistent disparities on the same datasets regardless FMs, and limited effectiveness of existing unfairness mitigation methods. Checkout FairMedFM's project page and open-sourced codebase, which supports extendible functionalities and applications as well as inclusive for studies on FMs in medical imaging over the long term.
Large language models (LLMs) present a valuable technology for various applications in healthcare, but their tendency to hallucinate introduces unacceptable uncertainty in critical decision-making situations. Human-AI collaboration (HAIC) can mitigate this uncertainty by combining human and AI strengths for better outcomes. This paper presents a novel guided deferral system that provides intelligent guidance when AI defers cases to human decision-makers. We leverage LLMs' verbalisation capabilities and internal states to create this system, demonstrating that fine-tuning small-scale LLMs with data from large-scale LLMs greatly enhances performance while maintaining computational efficiency and data privacy. A pilot study showcases the effectiveness of our proposed deferral system.
Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for intricate manipulations. We introduce Bunny-VisionPro, a real-time bimanual dexterous teleoperation system that leverages a VR headset. Unlike previous vision-based teleoperation systems, we design novel low-cost devices to provide haptic feedback to the operator, enhancing immersion. Our system prioritizes safety by incorporating collision and singularity avoidance while maintaining real-time performance through innovative designs. Bunny-VisionPro outperforms prior systems on a standard task suite, achieving higher success rates and reduced task completion times. Moreover, the high-quality teleoperation demonstrations improve downstream imitation learning performance, leading to better generalizability. Notably, Bunny-VisionPro enables imitation learning with challenging multi-stage, long-horizon dexterous manipulation tasks, which have rarely been addressed in previous work. Our system's ability to handle bimanual manipulations while prioritizing safety and real-time performance makes it a powerful tool for advancing dexterous manipulation and imitation learning.
Python's dynamic typing system offers flexibility and expressiveness but can lead to type-related errors, prompting the need for automated type inference to enhance type hinting. While existing learning-based approaches show promising inference accuracy, they struggle with practical challenges in comprehensively handling various types, including complex generic types and (unseen) user-defined types. In this paper, we introduce TIGER, a two-stage generating-then-ranking (GTR) framework, designed to effectively handle Python's diverse type categories. TIGER leverages fine-tuned pre-trained code models to train a generative model with a span masking objective and a similarity model with a contrastive training objective. This approach allows TIGER to generate a wide range of type candidates, including complex generics in the generating stage, and accurately rank them with user-defined types in the ranking stage. Our evaluation on the ManyTypes4Py dataset shows TIGER's advantage over existing methods in various type categories, notably improving accuracy in inferring user-defined and unseen types by 11.2% and 20.1% respectively in Top-5 Exact Match. Moreover, the experimental results not only demonstrate TIGER's superior performance and efficiency, but also underscore the significance of its generating and ranking stages in enhancing automated type inference.
More than one hundred benchmarks have been developed to test the commonsense knowledge and commonsense reasoning abilities of artificial intelligence (AI) systems. However, these benchmarks are often flawed and many aspects of common sense remain untested. Consequently, we do not currently have any reliable way of measuring to what extent existing AI systems have achieved these abilities. This paper surveys the development and uses of AI commonsense benchmarks. We discuss the nature of common sense; the role of common sense in AI; the goals served by constructing commonsense benchmarks; and desirable features of commonsense benchmarks. We analyze the common flaws in benchmarks, and we argue that it is worthwhile to invest the work needed ensure that benchmark examples are consistently high quality. We survey the various methods of constructing commonsense benchmarks. We enumerate 139 commonsense benchmarks that have been developed: 102 text-based, 18 image-based, 12 video based, and 7 simulated physical environments. We discuss the gaps in the existing benchmarks and aspects of commonsense reasoning that are not addressed in any existing benchmark. We conclude with a number of recommendations for future development of commonsense AI benchmarks.
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms which can operate drones in complex and uncertain environments. Additionally, flying fast enables drones to cover more ground which in turn increases productivity and further strengthens their use case. One proxy for developing algorithms used in high-speed navigation is the task of autonomous drone racing, where researchers program drones to fly through a sequence of gates and avoid obstacles as quickly as possible using onboard sensors and limited computational power. Speeds and accelerations exceed over 80 kph and 4 g respectively, raising significant challenges across perception, planning, control, and state estimation. To achieve maximum performance, systems require real-time algorithms that are robust to motion blur, high dynamic range, model uncertainties, aerodynamic disturbances, and often unpredictable opponents. This survey covers the progression of autonomous drone racing across model-based and learning-based approaches. We provide an overview of the field, its evolution over the years, and conclude with the biggest challenges and open questions to be faced in the future.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Following unprecedented success on the natural language tasks, Transformers have been successfully applied to several computer vision problems, achieving state-of-the-art results and prompting researchers to reconsider the supremacy of convolutional neural networks (CNNs) as {de facto} operators. Capitalizing on these advances in computer vision, the medical imaging field has also witnessed growing interest for Transformers that can capture global context compared to CNNs with local receptive fields. Inspired from this transition, in this survey, we attempt to provide a comprehensive review of the applications of Transformers in medical imaging covering various aspects, ranging from recently proposed architectural designs to unsolved issues. Specifically, we survey the use of Transformers in medical image segmentation, detection, classification, reconstruction, synthesis, registration, clinical report generation, and other tasks. In particular, for each of these applications, we develop taxonomy, identify application-specific challenges as well as provide insights to solve them, and highlight recent trends. Further, we provide a critical discussion of the field's current state as a whole, including the identification of key challenges, open problems, and outlining promising future directions. We hope this survey will ignite further interest in the community and provide researchers with an up-to-date reference regarding applications of Transformer models in medical imaging. Finally, to cope with the rapid development in this field, we intend to regularly update the relevant latest papers and their open-source implementations at \url{//github.com/fahadshamshad/awesome-transformers-in-medical-imaging}.
Learning disentanglement aims at finding a low dimensional representation which consists of multiple explanatory and generative factors of the observational data. The framework of variational autoencoder (VAE) is commonly used to disentangle independent factors from observations. However, in real scenarios, factors with semantics are not necessarily independent. Instead, there might be an underlying causal structure which renders these factors dependent. We thus propose a new VAE based framework named CausalVAE, which includes a Causal Layer to transform independent exogenous factors into causal endogenous ones that correspond to causally related concepts in data. We further analyze the model identifiabitily, showing that the proposed model learned from observations recovers the true one up to a certain degree. Experiments are conducted on various datasets, including synthetic and real word benchmark CelebA. Results show that the causal representations learned by CausalVAE are semantically interpretable, and their causal relationship as a Directed Acyclic Graph (DAG) is identified with good accuracy. Furthermore, we demonstrate that the proposed CausalVAE model is able to generate counterfactual data through "do-operation" to the causal factors.
Explainable recommendation attempts to develop models that generate not only high-quality recommendations but also intuitive explanations. The explanations may either be post-hoc or directly come from an explainable model (also called interpretable or transparent model in some context). Explainable recommendation tries to address the problem of why: by providing explanations to users or system designers, it helps humans to understand why certain items are recommended by the algorithm, where the human can either be users or system designers. Explainable recommendation helps to improve the transparency, persuasiveness, effectiveness, trustworthiness, and satisfaction of recommendation systems. In this survey, we review works on explainable recommendation in or before the year of 2019. We first highlight the position of explainable recommendation in recommender system research by categorizing recommendation problems into the 5W, i.e., what, when, who, where, and why. We then conduct a comprehensive survey of explainable recommendation on three perspectives: 1) We provide a chronological research timeline of explainable recommendation, including user study approaches in the early years and more recent model-based approaches. 2) We provide a two-dimensional taxonomy to classify existing explainable recommendation research: one dimension is the information source (or display style) of the explanations, and the other dimension is the algorithmic mechanism to generate explainable recommendations. 3) We summarize how explainable recommendation applies to different recommendation tasks, such as product recommendation, social recommendation, and POI recommendation. We also devote a section to discuss the explanation perspectives in broader IR and AI/ML research. We end the survey by discussing potential future directions to promote the explainable recommendation research area and beyond.
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