Brain extraction in magnetic resonance imaging (MRI) data is an important segmentation step in many neuroimaging preprocessing pipelines. Image segmentation is one of the research fields in which deep learning had the biggest impact in recent years enabling high precision segmentation with minimal compute. Consequently, traditional brain extraction methods are now being replaced by deep learning-based methods. Here, we used a unique dataset comprising 568 T1-weighted (T1w) MR images from 191 different studies in combination with cutting edge deep learning methods to build a fast, high-precision brain extraction tool called deepbet. deepbet uses LinkNet, a modern UNet architecture, in a two stage prediction process. This increases its segmentation performance, setting a novel state-of-the-art performance during cross-validation with a median Dice score (DSC) of 99.0% on unseen datasets, outperforming current state of the art models (DSC = 97.8% and DSC = 97.9%). While current methods are more sensitive to outliers, resulting in Dice scores as low as 76.5%, deepbet manages to achieve a Dice score of > 96.9% for all samples. Finally, our model accelerates brain extraction by a factor of ~10 compared to current methods, enabling the processing of one image in ~2 seconds on low level hardware.
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Bayesian optimization (BO) is a powerful sequential optimization approach for seeking the global optimum of black-box functions for sample efficiency purposes. Evaluations of black-box functions can be expensive, rendering reduced use of labeled data desirable. For the first time, we introduce a teacher-student model, called $\texttt{TSBO}$, to enable semi-supervised learning that can make use of large amounts of cheaply generated unlabeled data under the context of BO to enhance the generalization of data query models. Our teacher-student model is uncertainty-aware and offers a practical mechanism for leveraging the pseudo labels generated for unlabeled data while dealing with the involved risk. We show that the selection of unlabeled data is key to $\texttt{TSBO}$. We optimize unlabeled data sampling by generating unlabeled data from a dynamically fitted extreme value distribution or a parameterized sampling distribution learned by minimizing the student feedback. $\texttt{TSBO}$ is capable of operating in a learned latent space with reduced dimensionality, providing scalability to high-dimensional problems. $\texttt{TSBO}$ demonstrates the significant sample efficiency in several global optimization tasks under tight labeled data budgets.
Face recognition models embed a face image into a low-dimensional identity vector containing abstract encodings of identity-specific facial features that allow individuals to be distinguished from one another. We tackle the challenging task of inverting the latent space of pre-trained face recognition models without full model access (i.e. black-box setting). A variety of methods have been proposed in literature for this task, but they have serious shortcomings such as a lack of realistic outputs and strong requirements for the data set and accessibility of the face recognition model. By analyzing the black-box inversion problem, we show that the conditional diffusion model loss naturally emerges and that we can effectively sample from the inverse distribution even without an identity-specific loss. Our method, named identity denoising diffusion probabilistic model (ID3PM), leverages the stochastic nature of the denoising diffusion process to produce high-quality, identity-preserving face images with various backgrounds, lighting, poses, and expressions. We demonstrate state-of-the-art performance in terms of identity preservation and diversity both qualitatively and quantitatively, and our method is the first black-box face recognition model inversion method that offers intuitive control over the generation process.
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance. This paper introduces DREAM - Decentralized Reinforcement Learning for Exploration and Efficient Energy Management in Multi-Robot Systems, a comprehensive framework that optimizes the allocation of resources for efficient exploration. It advances beyond conventional heuristic-based task planning as observed conventionally. The framework incorporates Operational Range Estimation using Reinforcement Learning to perform exploration and obstacle avoidance in unfamiliar terrains. DREAM further introduces an Energy Consumption Model for goal allocation, thereby ensuring mission completion under constrained resources using a Graph Neural Network. This approach also ensures that the entire Multi-Robot System can survive for an extended period of time for further missions compared to the conventional approach of randomly allocating goals, which compromises one or more agents. Our approach adapts to prioritizing agents in real-time, showcasing remarkable resilience against dynamic environments. This robust solution was evaluated in various simulated environments, demonstrating adaptability and applicability across diverse scenarios. We observed a substantial improvement of about 25% over the baseline method, leading the way for future research in resource-constrained robotics.
Multiple instance learning exhibits a powerful approach for whole slide image-based diagnosis in the absence of pixel- or patch-level annotations. In spite of the huge size of hole slide images, the number of individual slides is often rather small, leading to a small number of labeled samples. To improve training, we propose and investigate different data augmentation strategies for multiple instance learning based on the idea of linear interpolations of feature vectors (known as MixUp). Based on state-of-the-art multiple instance learning architectures and two thyroid cancer data sets, an exhaustive study is conducted considering a range of common data augmentation strategies. Whereas a strategy based on to the original MixUp approach showed decreases in accuracy, the use of a novel intra-slide interpolation method led to consistent increases in accuracy.
One prerequisite for supervised machine learning is high quality labelled data. Acquiring such data is, particularly if expert knowledge is required, costly or even impossible if the task needs to be performed by a single expert. In this paper, we illustrate tool support that we adopted and extended to source domain-specific knowledge from experts. We provide insight in design decisions that aim at motivating experts to dedicate their time at performing the labelling task. We are currently using the approach to identify true synonyms from a list of candidate synonyms. The identification of synonyms is important in scenarios were stakeholders from different companies and background need to collaborate, for example when defining and negotiating requirements. We foresee that the approach of expert-sourcing is applicable to any data labelling task in software engineering. The discussed design decisions and implementation are an initial draft that can be extended, refined and validated with further application.
Neural radiance fields with stochasticity have garnered significant interest by enabling the sampling of plausible radiance fields and quantifying uncertainty for downstream tasks. Existing works rely on the independence assumption of points in the radiance field or the pixels in input views to obtain tractable forms of the probability density function. However, this assumption inadvertently impacts performance when dealing with intricate geometry and texture. In this work, we propose an independence-assumption-free probabilistic neural radiance field based on Flow-GAN. By combining the generative capability of adversarial learning and the powerful expressivity of normalizing flow, our method explicitly models the density-radiance distribution of the whole scene. We represent our probabilistic NeRF as a mean-shifted probabilistic residual neural model. Our model is trained without an explicit likelihood function, thereby avoiding the independence assumption. Specifically, We downsample the training images with different strides and centers to form fixed-size patches which are used to train the generator with patch-based adversarial learning. Through extensive experiments, our method demonstrates state-of-the-art performance by predicting lower rendering errors and more reliable uncertainty on both synthetic and real-world datasets.
We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical properties. Then we distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs. These multimodal inputs are fused via a visuotactile transformer, enabling online inference of object shapes and physical properties during deployment. We show significant performance improvements over prior methods and the importance of visual and tactile sensing.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
The recent proliferation of knowledge graphs (KGs) coupled with incomplete or partial information, in the form of missing relations (links) between entities, has fueled a lot of research on knowledge base completion (also known as relation prediction). Several recent works suggest that convolutional neural network (CNN) based models generate richer and more expressive feature embeddings and hence also perform well on relation prediction. However, we observe that these KG embeddings treat triples independently and thus fail to cover the complex and hidden information that is inherently implicit in the local neighborhood surrounding a triple. To this effect, our paper proposes a novel attention based feature embedding that captures both entity and relation features in any given entity's neighborhood. Additionally, we also encapsulate relation clusters and multihop relations in our model. Our empirical study offers insights into the efficacy of our attention based model and we show marked performance gains in comparison to state of the art methods on all datasets.
Spectral clustering is a leading and popular technique in unsupervised data analysis. Two of its major limitations are scalability and generalization of the spectral embedding (i.e., out-of-sample-extension). In this paper we introduce a deep learning approach to spectral clustering that overcomes the above shortcomings. Our network, which we call SpectralNet, learns a map that embeds input data points into the eigenspace of their associated graph Laplacian matrix and subsequently clusters them. We train SpectralNet using a procedure that involves constrained stochastic optimization. Stochastic optimization allows it to scale to large datasets, while the constraints, which are implemented using a special-purpose output layer, allow us to keep the network output orthogonal. Moreover, the map learned by SpectralNet naturally generalizes the spectral embedding to unseen data points. To further improve the quality of the clustering, we replace the standard pairwise Gaussian affinities with affinities leaned from unlabeled data using a Siamese network. Additional improvement can be achieved by applying the network to code representations produced, e.g., by standard autoencoders. Our end-to-end learning procedure is fully unsupervised. In addition, we apply VC dimension theory to derive a lower bound on the size of SpectralNet. State-of-the-art clustering results are reported on the Reuters dataset. Our implementation is publicly available at //github.com/kstant0725/SpectralNet .
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