Style Transfer Enabled Sim2Real Framework for Efficient Learning of Robotic Ultrasound Image Analysis Using Simulated Data

Robotic ultrasound (US) systems have shown great potential to make US examinations easier and more accurate. Recently, various machine learning techniques have been proposed to realize automatic US image interpretation for robotic US acquisition tasks. However, obtaining large amounts of real US imaging data for training is usually expensive or even unfeasible in some clinical applications. An alternative is to build a simulator to generate synthetic US data for training, but the differences between simulated and real US images may result in poor model performance. This work presents a Sim2Real framework to efficiently learn robotic US image analysis tasks based only on simulated data for real-world deployment. A style transfer module is proposed based on unsupervised contrastive learning and used as a preprocessing step to convert the real US images into the simulation style. Thereafter, a task-relevant model is designed to combine CNNs with vision transformers to generate the task-dependent prediction with improved generalization ability. We demonstrate the effectiveness of our method in an image regression task to predict the probe position based on US images in robotic transesophageal echocardiography (TEE). Our results show that using only simulated US data and a small amount of unlabelled real data for training, our method can achieve comparable performance to semi-supervised and fully supervised learning methods. Moreover, the effectiveness of our previously proposed CT-based US image simulation method is also indirectly confirmed.

BitGNN: Unleashing the Performance Potential of Binary Graph Neural Networks on GPUs

Recent studies have shown that Binary Graph Neural Networks (GNNs) are promising for saving computations of GNNs through binarized tensors. Prior work, however, mainly focused on algorithm designs or training techniques, leaving it open to how to materialize the performance potential on accelerator hardware fully. This work redesigns the binary GNN inference backend from the efficiency perspective. It fills the gap by proposing a series of abstractions and techniques to map binary GNNs and their computations best to fit the nature of bit manipulations on GPUs. Results on real-world graphs with GCNs, GraphSAGE, and GraphSAINT show that the proposed techniques outperform state-of-the-art binary GNN implementations by 8-22X with the same accuracy maintained. BitGNN code is publicly available.

Machine Learning Automated Approach for Enormous Synchrotron X-Ray Diffraction Data Interpretation

Manual analysis of XRD data is usually laborious and time consuming. The deep neural network (DNN) based models trained by synthetic XRD patterns are proved to be an automatic, accurate, and high throughput method to analysis common XRD data collected from solid sample in ambient environment. However, it remains unknown that whether synthetic XRD based models are capable to solve u-XRD mapping data for in-situ experiments involving liquid phase exhibiting lower quality with significant artifacts. In this study, we collected u-XRD mapping data from an LaCl3-calcite hydrothermal fluid system and trained two categories of models to solve the experimental XRD patterns. The models trained by synthetic XRD patterns show low accuracy (as low as 64%) when solving experimental u-XRD mapping data. The accuracy of the DNN models was significantly improved (90% or above) when training them with the dataset containing both synthetic and small number of labeled experimental u-XRD patterns. This study highlighted the importance of labeled experimental patterns on the training of DNN models to solve u-XRD mapping data from in-situ experiments involving liquid phase.

Deep Learning-Based Channel Extrapolation for Pattern Reconfigurable Massive MIMO

Antennas that can dynamically change the operation state exhibit excellent adaptivity and flexibility over traditional antennas, and MIMO arrays that consist of Multifunctional and reconfigurable antennas (MRAs) are foreseen as one promising solution towards future Holographic MIMO. Specifically, in pattern reconfigurable MIMO (PR-MIMO) communication systems, accurate acquisition of channel state information (CSI) of all the radiation modes is a challenging task, because using conventional pilot-based channel estimation techniques in PR-MIMO systems incurs overwhelming pilot overheads. In this letter, we leverage deep learning methods to design a PR neural network, which can use the estimated CSI for one radiation mode to infer CSIs for the other radiation modes. In order to reduce the pilot overheads, we propose a new channel estimation method specially for PR-MIMO systems which divides the transmit antennas of PR-MIMO into groups, where antennas in different groups employ different radiation modes. Comparing with conventional full connected deep neural networks (FNN), the PR neural network which uses complex weight coefficients can work directly in the complex domain. Experiment results show that the proposed channel extrapolation method offers significant performance gains in terms of prediction accuracy over benchmark schemes.

AutoFed: Heterogeneity-Aware Federated Multimodal Learning for Robust Autonomous Driving

Object detection with on-board sensors (e.g., lidar, radar, and camera) play a crucial role in autonomous driving (AD), and these sensors complement each other in modalities. While crowdsensing may potentially exploit these sensors (of huge quantity) to derive more comprehensive knowledge, \textit{federated learning} (FL) appears to be the necessary tool to reach this potential: it enables autonomous vehicles (AVs) to train machine learning models without explicitly sharing raw sensory data. However, the multimodal sensors introduce various data heterogeneity across distributed AVs (e.g., label quantity skews and varied modalities), posing critical challenges to effective FL. To this end, we present AutoFed as a heterogeneity-aware FL framework to fully exploit multimodal sensory data on AVs and thus enable robust AD. Specifically, we first propose a novel model leveraging pseudo-labeling to avoid mistakenly treating unlabeled objects as the background. We also propose an autoencoder-based data imputation method to fill missing data modality (of certain AVs) with the available ones. To further reconcile the heterogeneity, we finally present a client selection mechanism exploiting the similarities among client models to improve both training stability and convergence rate. Our experiments on benchmark dataset confirm that AutoFed substantially improves over status quo approaches in both precision and recall, while demonstrating strong robustness to adverse weather conditions.

Transforming CLIP to an Open-vocabulary Video Model via Interpolated Weight Optimization

Contrastive Language-Image Pretraining (CLIP) has demonstrated impressive zero-shot learning abilities for image understanding, yet limited effort has been made to investigate CLIP for zero-shot video recognition. We introduce Open-VCLIP, a simple yet effective approach that transforms CLIP into strong zero-shot video classifiers that can recognize unseen actions and events at test time. Our framework extends CLIP with minimal modifications to model spatial-temporal relationships in videos, making it a specialized video classifier, while striving for generalization. We formally show that training an Open-VCLIP is equivalent to continual learning with zero historical data. To address this problem, we propose Interpolated Weight Optimization, which utilizes the benefit of weight interpolation in both training and test time. We evaluate our method on three popular and challenging action recognition datasets following various zero-shot evaluation protocols and we demonstrate our approach outperforms state-of-the-art methods by clear margins. In particular, we achieve 87.9%, 58.3%, 81.1% zero-shot accuracy on UCF, HMDB and Kinetics-600 respectively, outperforming state-of-the-art methods by 8.3%, 7.8% and 12.2%.

Epsilon-Identifiability of Causal Quantities

Identifying the effects of causes and causes of effects is vital in virtually every scientific field. Often, however, the needed probabilities may not be fully identifiable from the data sources available. This paper shows how partial identifiability is still possible for several probabilities of causation. We term this epsilon-identifiability and demonstrate its usefulness in cases where the behavior of certain subpopulations can be restricted to within some narrow bounds. In particular, we show how unidentifiable causal effects and counterfactual probabilities can be narrowly bounded when such allowances are made. Often those allowances are easily measured and reasonably assumed. Finally, epsilon-identifiability is applied to the unit selection problem.

Enabling Augmented Segmentation and Registration in Ultrasound-Guided Spinal Surgery via Realistic Ultrasound Synthesis from Diagnostic CT Volume

This paper aims to tackle the issues on unavailable or insufficient clinical US data and meaningful annotation to enable bone segmentation and registration for US-guided spinal surgery. While the US is not a standard paradigm for spinal surgery, the scarcity of intra-operative clinical US data is an insurmountable bottleneck in training a neural network. Moreover, due to the characteristics of US imaging, it is difficult to clearly annotate bone surfaces which causes the trained neural network missing its attention to the details. Hence, we propose an In silico bone US simulation framework that synthesizes realistic US images from diagnostic CT volume. Afterward, using these simulated bone US we train a lightweight vision transformer model that can achieve accurate and on-the-fly bone segmentation for spinal sonography. In the validation experiments, the realistic US simulation was conducted by deriving from diagnostic spinal CT volume to facilitate a radiation-free US-guided pedicle screw placement procedure. When it is employed for training bone segmentation task, the Chamfer distance achieves 0.599mm; when it is applied for CT-US registration, the associated bone segmentation accuracy achieves 0.93 in Dice, and the registration accuracy based on the segmented point cloud is 0.13~3.37mm in a complication-free manner. While bone US images exhibit strong echoes at the medium interface, it may enable the model indistinguishable between thin interfaces and bone surfaces by simply relying on small neighborhood information. To overcome these shortcomings, we propose to utilize a Long-range Contrast Learning Module to fully explore the Long-range Contrast between the candidates and their surrounding pixels.

Speeding-up Symbol-Level Precoding Using Separable and Dual Optimizations

Symbol-level precoding (SLP) manipulates the transmitted signals to accurately exploit the multi-user interference (MUI) in the multi-user downlink. This enables that all the resultant interference contributes to correct detection, which is the so-called constructive interference (CI). Its performance superiority comes at the cost of solving a nonlinear optimization problem on a symbol-by-symbol basis, for which the resulting complexity becomes prohibitive in realistic wireless communication systems. In this paper, we investigate low-complexity SLP algorithms for both phase-shift keying (PSK) and quadrature amplitude modulation (QAM). Specifically, we first prove that the max-min SINR balancing (SB) SLP problem for PSK signaling is not separable, which is contrary to the power minimization (PM) SLP problem, and accordingly, existing decomposition methods are not applicable. Next, we establish an explicit duality between the PM-SLP and SB-SLP problems for PSK modulation. The proposed duality facilitates obtaining the solution to the SB-SLP given the solution to the PM-SLP without the need for one-dimension search, and vice versa. We then propose a closed-form power scaling algorithm to solve the SB-SLP via PM-SLP to take advantage of the separability of the PM-SLP. As for QAM modulation, we convert the PM-SLP problem into a separable equivalent optimization problem, and decompose the new problem into several simple parallel subproblems with closed-form solutions, leveraging the proximal Jacobian alternating direction method of multipliers (PJ-ADMM). We further prove that the proposed duality can be generalized to the multi-level modulation case, based on which a power scaling parallel inverse-free algorithm is also proposed to solve the SB-SLP for QAM signaling. Numerical results show that the proposed algorithms offer optimal performance with lower complexity than the state-of-the-art.