Marine debris poses a significant threat to the survival of marine wildlife, often leading to entanglement and starvation, ultimately resulting in death. Therefore, removing debris from the ocean is crucial to restore the natural balance and allow marine life to thrive. Instance segmentation is an advanced form of object detection that identifies objects and precisely locates and separates them, making it an essential tool for autonomous underwater vehicles (AUVs) to navigate and interact with their underwater environment effectively. AUVs use image segmentation to analyze images captured by their cameras to navigate underwater environments. In this paper, we use instance segmentation to calculate the area of individual objects within an image, we use YOLOV7 in Roboflow to generate a set of bounding boxes for each object in the image with a class label and a confidence score for every detection. A segmentation mask is then created for each object by applying a binary mask to the object's bounding box. The masks are generated by applying a binary threshold to the output of a convolutional neural network trained to segment objects from the background. Finally, refining the segmentation mask for each object is done by applying post-processing techniques such as morphological operations and contour detection, to improve the accuracy and quality of the mask. The process of estimating the area of instance segmentation involves calculating the area of each segmented instance separately and then summing up the areas of all instances to obtain the total area. The calculation is carried out using standard formulas based on the shape of the object, such as rectangles and circles. In cases where the object is complex, the Monte Carlo method is used to estimate the area. This method provides a higher degree of accuracy than traditional methods, especially when using a large number of samples.
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Underwater gliders have been widely used in oceanography for a range of applications. However, unpredictable events like shark strikes or remora attachments can lead to abnormal glider behavior or even loss of the instrument. This paper employs an anomaly detection algorithm to assess operational conditions of underwater gliders in the real-world ocean environment. Prompt alerts are provided to glider pilots upon detecting any anomaly, so that they can take control of the glider to prevent further harm. The detection algorithm is applied to multiple datasets collected in real glider deployments led by the University of Georgia's Skidaway Institute of Oceanography (SkIO) and the University of South Florida (USF). In order to demonstrate the algorithm generality, the experimental evaluation is applied to four glider deployment datasets, each highlighting various anomalies happening in different scenes. Specifically, we utilize high resolution datasets only available post-recovery to perform detailed analysis of the anomaly and compare it with pilot logs. Additionally, we simulate the online detection based on the real-time subsets of data transmitted from the glider at the surfacing events. While the real-time data may not contain as much rich information as the post-recovery one, the online detection is of great importance as it allows glider pilots to monitor potential abnormal conditions in real time.
This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we define as conformal policy learning, that allows robots to detect distribution shifts with formal statistical guarantees. We show how to design such policies by using conformal quantiles to switch between base policies with different characteristics, e.g. safety or speed, or directly augmenting a policy observation with a quantile and training it with reinforcement learning. Theoretically, we show that such policies achieve the formal convergence guarantees in finite time. In addition, we thoroughly evaluate their advantages and limitations on two compelling use cases: simulated autonomous driving and active perception with a physical quadruped. Empirical results demonstrate that our approach outperforms five baselines. It is also the simplest of the baseline strategies besides one ablation. Being easy to use, flexible, and with formal guarantees, our work demonstrates how conformal prediction can be an effective tool for sensorimotor learning under uncertainty.
Dementia, a prevalent neurodegenerative condition, is a major manifestation of Alzheimer's disease (AD). As the condition progresses from mild to severe, it significantly impairs the individual's ability to perform daily tasks independently, necessitating the need for timely and accurate AD classification. Machine learning or deep learning models have emerged as effective tools for this purpose. In this study, we suggested an approach for classifying the four stages of dementia using RF, SVM, and CNN algorithms, augmented with watershed segmentation for feature extraction from MRI images. Our results reveal that SVM with watershed features achieves an impressive accuracy of 96.25%, surpassing other classification methods. The ADNI dataset is utilized to evaluate the effectiveness of our method, and we observed that the inclusion of watershed segmentation contributes to the enhanced performance of the models.
This study introduces an efficacious approach, Masked Collaborative Contrast (MCC), to highlight semantic regions in weakly supervised semantic segmentation. MCC adroitly draws inspiration from masked image modeling and contrastive learning to devise a novel framework that induces keys to contract toward semantic regions. Unlike prevalent techniques that directly eradicate patch regions in the input image when generating masks, we scrutinize the neighborhood relations of patch tokens by exploring masks considering keys on the affinity matrix. Moreover, we generate positive and negative samples in contrastive learning by utilizing the masked local output and contrasting it with the global output. Elaborate experiments on commonly employed datasets evidences that the proposed MCC mechanism effectively aligns global and local perspectives within the image, attaining impressive performance. The source code is available at \url{//github.com/fwu11/MCC}.
When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional capabilities through tool use. Recent techniques for jointly optimizing morphology and control via deep learning are effective at designing locomotion agents. But while outputting a single morphology makes sense for locomotion, manipulation involves a variety of strategies depending on the task goals at hand. A manipulation agent must be capable of rapidly prototyping specialized tools for different goals. Therefore, we propose learning a designer policy, rather than a single design. A designer policy is conditioned on task information and outputs a tool design that helps solve the task. A design-conditioned controller policy can then perform manipulation using these tools. In this work, we take a step towards this goal by introducing a reinforcement learning framework for jointly learning these policies. Through simulated manipulation tasks, we show that this framework is more sample efficient than prior methods in multi-goal or multi-variant settings, can perform zero-shot interpolation or fine-tuning to tackle previously unseen goals, and allows tradeoffs between the complexity of design and control policies under practical constraints. Finally, we deploy our learned policies onto a real robot. Please see our supplementary video and website at //robotic-tool-design.github.io/ for visualizations.
In todays rapidly evolving technological landscape, the success of tools and systems relies heavily on their ability to meet the needs and expectations of users. User-centered design approaches, with a focus on human factors, have gained increasing attention as they prioritize the human element in the development process. With the increasing complexity of software-based systems, companies are adopting agile development methodologies and emphasizing continuous software experimentation. However, there is limited knowledge on how to effectively execute continuous experimentation with respect to human factors within this context. This research paper presents an exploratory qualitative study for integrating human factors in continuous experimentation, aiming to uncover distinctive characteristics of human factors and continuous software experiments, practical challenges for integrating human factors in continuous software experiments, and best practices associated with the management of continuous human factors experimentation.
We investigate the optimization target of Contrast-Consistent Search (CCS), which aims to recover the internal representations of truth of a large language model. We present a new loss function that we call the Midpoint-Displacement (MD) loss function. We demonstrate that for a certain hyper-parameter value this MD loss function leads to a prober with very similar weights to CCS. We further show that this hyper-parameter is not optimal and that with a better hyper-parameter the MD loss function attains a higher test accuracy than CCS.
Phacoemulsification cataract surgery (PCS) is a routine procedure conducted using a surgical microscope, heavily reliant on the skill of the ophthalmologist. While existing PCS guidance systems extract valuable information from surgical microscopic videos to enhance intraoperative proficiency, they suffer from non-phasespecific guidance, leading to redundant visual information. In this study, our major contribution is the development of a novel phase-specific augmented reality (AR) guidance system, which offers tailored AR information corresponding to the recognized surgical phase. Leveraging the inherent quasi-standardized nature of PCS procedures, we propose a two-stage surgical microscopic video recognition network. In the first stage, we implement a multi-task learning structure to segment the surgical limbus region and extract limbus region-focused spatial feature for each frame. In the second stage, we propose the long-short spatiotemporal aggregation transformer (LS-SAT) network to model local fine-grained and global temporal relationships, and combine the extracted spatial features to recognize the current surgical phase. Additionally, we collaborate closely with ophthalmologists to design AR visual cues by utilizing techniques such as limbus ellipse fitting and regional restricted normal cross-correlation rotation computation. We evaluated the network on publicly available and in-house datasets, with comparison results demonstrating its superior performance compared to related works. Ablation results further validated the effectiveness of the limbus region-focused spatial feature extractor and the combination of temporal features. Furthermore, the developed system was evaluated in a clinical setup, with results indicating remarkable accuracy and real-time performance. underscoring its potential for clinical applications.
Ensembles over neural network weights trained from different random initialization, known as deep ensembles, achieve state-of-the-art accuracy and calibration. The recently introduced batch ensembles provide a drop-in replacement that is more parameter efficient. In this paper, we design ensembles not only over weights, but over hyperparameters to improve the state of the art in both settings. For best performance independent of budget, we propose hyper-deep ensembles, a simple procedure that involves a random search over different hyperparameters, themselves stratified across multiple random initializations. Its strong performance highlights the benefit of combining models with both weight and hyperparameter diversity. We further propose a parameter efficient version, hyper-batch ensembles, which builds on the layer structure of batch ensembles and self-tuning networks. The computational and memory costs of our method are notably lower than typical ensembles. On image classification tasks, with MLP, LeNet, and Wide ResNet 28-10 architectures, our methodology improves upon both deep and batch ensembles.
Text in natural images is of arbitrary orientations, requiring detection in terms of oriented bounding boxes. Normally, a multi-oriented text detector often involves two key tasks: 1) text presence detection, which is a classification problem disregarding text orientation; 2) oriented bounding box regression, which concerns about text orientation. Previous methods rely on shared features for both tasks, resulting in degraded performance due to the incompatibility of the two tasks. To address this issue, we propose to perform classification and regression on features of different characteristics, extracted by two network branches of different designs. Concretely, the regression branch extracts rotation-sensitive features by actively rotating the convolutional filters, while the classification branch extracts rotation-invariant features by pooling the rotation-sensitive features. The proposed method named Rotation-sensitive Regression Detector (RRD) achieves state-of-the-art performance on three oriented scene text benchmark datasets, including ICDAR 2015, MSRA-TD500, RCTW-17 and COCO-Text. Furthermore, RRD achieves a significant improvement on a ship collection dataset, demonstrating its generality on oriented object detection.
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