Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throw-catching behavior has the potential to increase picking speed without transporting objects to their destination. However, dynamic dexterous manipulation poses a major challenge for stable control due to a large number of dynamic contacts. In this paper, we propose a Stability-Constrained Reinforcement Learning (SCRL) algorithm to learn to catch diverse objects with dexterous hands. The SCRL algorithm outperforms baselines by a large margin, and the learned policies show strong zero-shot transfer performance on unseen objects. Remarkably, even though the object in a hand facing sideward is extremely unstable due to the lack of support from the palm, our method can still achieve a high level of success in the most challenging task. Video demonstrations of learned behaviors and the code can be found on the supplementary website.
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Image style transfer occupies an important place in both computer graphics and computer vision. However, most current methods require reference to stylized images and cannot individually stylize specific objects. To overcome this limitation, we propose the "Soulstyler" framework, which allows users to guide the stylization of specific objects in an image through simple textual descriptions. We introduce a large language model to parse the text and identify stylization goals and specific styles. Combined with a CLIP-based semantic visual embedding encoder, the model understands and matches text and image content. We also introduce a novel localized text-image block matching loss that ensures that style transfer is performed only on specified target objects, while non-target regions remain in their original style. Experimental results demonstrate that our model is able to accurately perform style transfer on target objects according to textual descriptions without affecting the style of background regions. Our code will be available at //github.com/yisuanwang/Soulstyler.
Training models with robust group fairness properties is crucial in ethically sensitive application areas such as medical diagnosis. Despite the growing body of work aiming to minimise demographic bias in AI, this problem remains challenging. A key reason for this challenge is the fairness generalisation gap: High-capacity deep learning models can fit all training data nearly perfectly, and thus also exhibit perfect fairness during training. In this case, bias emerges only during testing when generalisation performance differs across subgroups. This motivates us to take a bi-level optimisation perspective on fair learning: Optimising the learning strategy based on validation fairness. Specifically, we consider the highly effective workflow of adapting pre-trained models to downstream medical imaging tasks using parameter-efficient fine-tuning (PEFT) techniques. There is a trade-off between updating more parameters, enabling a better fit to the task of interest vs. fewer parameters, potentially reducing the generalisation gap. To manage this tradeoff, we propose FairTune, a framework to optimise the choice of PEFT parameters with respect to fairness. We demonstrate empirically that FairTune leads to improved fairness on a range of medical imaging datasets.
Deep learning approaches exhibit promising performances on various text tasks. However, they are still struggling on medical text classification since samples are often extremely imbalanced and scarce. Different from existing mainstream approaches that focus on supplementary semantics with external medical information, this paper aims to rethink the data challenges in medical texts and present a novel framework-agnostic algorithm called Text2Tree that only utilizes internal label hierarchy in training deep learning models. We embed the ICD code tree structure of labels into cascade attention modules for learning hierarchy-aware label representations. Two new learning schemes, Similarity Surrogate Learning (SSL) and Dissimilarity Mixup Learning (DML), are devised to boost text classification by reusing and distinguishing samples of other labels following the label representation hierarchy, respectively. Experiments on authoritative public datasets and real-world medical records show that our approach stably achieves superior performances over classical and advanced imbalanced classification methods.
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these models accrue high errors at critical transition points leading to degradation in downstream planning performance. Our key insight is that instead of predicting the most likely human motion, it is sufficient to produce forecasts that capture how future human motion would affect the cost of a robot's plan. We present ManiCast, a novel framework that learns cost-aware human forecasts and feeds them to a model predictive control planner to execute collaborative manipulation tasks. Our framework enables fluid, real-time interactions between a human and a 7-DoF robot arm across a number of real-world tasks such as reactive stirring, object handovers, and collaborative table setting. We evaluate both the motion forecasts and the end-to-end forecaster-planner system against a range of learned and heuristic baselines while additionally contributing new datasets. We release our code and datasets at //portal-cornell.github.io/manicast/.
With the growing imbalance between limited medical resources and escalating demands, AI-based clinical tasks have become paramount. As a sub-domain, medication recommendation aims to amalgamate longitudinal patient history with medical knowledge, assisting physicians in prescribing safer and more accurate medication combinations. Existing works ignore the inherent long-tailed distribution of medical data, have uneven learning strengths for hot and sparse data, and fail to balance safety and accuracy. To address the above limitations, we propose StratMed, which introduces a stratification strategy that overcomes the long-tailed problem and achieves fuller learning of sparse data. It also utilizes a dual-property network to address the issue of mutual constraints on the safety and accuracy of medication combinations, synergistically enhancing these two properties. Specifically, we construct a pre-training method using deep learning networks to obtain medication and disease representations. After that, we design a pyramid-like stratification method based on relevance to strengthen the expressiveness of sparse data. Based on this relevance, we design two graph structures to express medication safety and precision at the same level to obtain patient representations. Finally, the patient's historical clinical information is fitted to generate medication combinations for the current health condition. We employed the MIMIC-III dataset to evaluate our model against state-of-the-art methods in three aspects comprehensively. Compared to the sub-optimal baseline model, our model reduces safety risk by 15.08\%, improves accuracy by 0.36\%, and reduces training time consumption by 81.66\%.
Interactive segmentation is a crucial research area in medical image analysis aiming to boost the efficiency of costly annotations by incorporating human feedback. This feedback takes the form of clicks, scribbles, or masks and allows for iterative refinement of the model output so as to efficiently guide the system towards the desired behavior. In recent years, deep learning-based approaches have propelled results to a new level causing a rapid growth in the field with 121 methods proposed in the medical imaging domain alone. In this review, we provide a structured overview of this emerging field featuring a comprehensive taxonomy, a systematic review of existing methods, and an in-depth analysis of current practices. Based on these contributions, we discuss the challenges and opportunities in the field. For instance, we find that there is a severe lack of comparison across methods which needs to be tackled by standardized baselines and benchmarks.
In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.
Visual recognition is currently one of the most important and active research areas in computer vision, pattern recognition, and even the general field of artificial intelligence. It has great fundamental importance and strong industrial needs. Deep neural networks (DNNs) have largely boosted their performances on many concrete tasks, with the help of large amounts of training data and new powerful computation resources. Though recognition accuracy is usually the first concern for new progresses, efficiency is actually rather important and sometimes critical for both academic research and industrial applications. Moreover, insightful views on the opportunities and challenges of efficiency are also highly required for the entire community. While general surveys on the efficiency issue of DNNs have been done from various perspectives, as far as we are aware, scarcely any of them focused on visual recognition systematically, and thus it is unclear which progresses are applicable to it and what else should be concerned. In this paper, we present the review of the recent advances with our suggestions on the new possible directions towards improving the efficiency of DNN-related visual recognition approaches. We investigate not only from the model but also the data point of view (which is not the case in existing surveys), and focus on three most studied data types (images, videos and points). This paper attempts to provide a systematic summary via a comprehensive survey which can serve as a valuable reference and inspire both researchers and practitioners who work on visual recognition problems.
Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.
We propose a novel attention gate (AG) model for medical imaging that automatically learns to focus on target structures of varying shapes and sizes. Models trained with AGs implicitly learn to suppress irrelevant regions in an input image while highlighting salient features useful for a specific task. This enables us to eliminate the necessity of using explicit external tissue/organ localisation modules of cascaded convolutional neural networks (CNNs). AGs can be easily integrated into standard CNN architectures such as the U-Net model with minimal computational overhead while increasing the model sensitivity and prediction accuracy. The proposed Attention U-Net architecture is evaluated on two large CT abdominal datasets for multi-class image segmentation. Experimental results show that AGs consistently improve the prediction performance of U-Net across different datasets and training sizes while preserving computational efficiency. The code for the proposed architecture is publicly available.
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