Empowering Embodied Visual Tracking with Visual Foundation Models and Offline RL

Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and poor generalization. In this paper, we propose a novel framework that combines visual foundation models (VFM) and offline reinforcement learning (offline RL) to empower embodied visual tracking. We use a pre-trained VFM, such as ``Tracking Anything", to extract semantic segmentation masks with text prompts. We then train a recurrent policy network with offline RL, e.g., Conservative Q-Learning, to learn from the collected demonstrations without online agent-environment interactions. To further improve the robustness and generalization of the policy network, we also introduce a mask re-targeting mechanism and a multi-level data collection strategy. In this way, we can train a robust tracker within an hour on a consumer-level GPU, e.g., Nvidia RTX 3090. Such efficiency is unprecedented for RL-based visual tracking methods. We evaluate our tracker on several high-fidelity environments with challenging situations, such as distraction and occlusion. The results show that our agent outperforms state-of-the-art methods in terms of sample efficiency, robustness to distractors, and generalization to unseen scenarios and targets. We also demonstrate the transferability of the learned tracker from the virtual world to real-world scenarios.

RS-Mamba for Large Remote Sensing Image Dense Prediction

Context modeling is critical for remote sensing image dense prediction tasks. Nowadays, the growing size of very-high-resolution (VHR) remote sensing images poses challenges in effectively modeling context. While transformer-based models possess global modeling capabilities, they encounter computational challenges when applied to large VHR images due to their quadratic complexity. The conventional practice of cropping large images into smaller patches results in a notable loss of contextual information. To address these issues, we propose the Remote Sensing Mamba (RSM) for dense prediction tasks in large VHR remote sensing images. RSM is specifically designed to capture the global context of remote sensing images with linear complexity, facilitating the effective processing of large VHR images. Considering that the land covers in remote sensing images are distributed in arbitrary spatial directions due to characteristics of remote sensing over-head imaging, the RSM incorporates an omnidirectional selective scan module to globally model the context of images in multiple directions, capturing large spatial features from various directions. Extensive experiments on semantic segmentation and change detection tasks across various land covers demonstrate the effectiveness of the proposed RSM. We designed simple yet effective models based on RSM, achieving state-of-the-art performance on dense prediction tasks in VHR remote sensing images without fancy training strategies. Leveraging the linear complexity and global modeling capabilities, RSM achieves better efficiency and accuracy than transformer-based models on large remote sensing images. Interestingly, we also demonstrated that our model generally performs better with a larger image size on dense prediction tasks. Our code is available at https://github.com/walking-shadow/Official_Remote_Sensing_Mamba.

Scaling Multi-Camera 3D Object Detection through Weak-to-Strong Eliciting

The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera parameters and urban landscapes, paving the way for the MC3D-Det foundation model. However, the multi-view fusion stage of the MC3D-Det method relies on the ill-posed monocular perception during training rather than surround refinement ability, leading to what we term "surround refinement degradation". To this end, our study presents a weak-to-strong eliciting framework aimed at enhancing surround refinement while maintaining robust monocular perception. Specifically, our framework employs weakly tuned experts trained on distinct subsets, and each is inherently biased toward specific camera configurations and scenarios. These biased experts can learn the perception of monocular degeneration, which can help the multi-view fusion stage to enhance surround refinement abilities. Moreover, a composite distillation strategy is proposed to integrate the universal knowledge of 2D foundation models and task-specific information. Finally, for MC3D-Det joint training, the elaborate dataset merge strategy is designed to solve the problem of inconsistent camera numbers and camera parameters. We set up a multiple dataset joint training benchmark for MC3D-Det and adequately evaluated existing methods. Further, we demonstrate the proposed framework brings a generalized and significant boost over multiple baselines. Our code is at \url{https://github.com/EnVision-Research/Scale-BEV}.

Concept-Attention Whitening for Interpretable Skin Lesion Diagnosis

The black-box nature of deep learning models has raised concerns about their interpretability for successful deployment in real-world clinical applications. To address the concerns, eXplainable Artificial Intelligence (XAI) aims to provide clear and understandable explanations of the decision-making process. In the medical domain, concepts such as attributes of lesions or abnormalities serve as key evidence for deriving diagnostic results. However, existing concept-based models mainly depend on concepts that appear independently and require fine-grained concept annotations such as bounding boxes. A medical image usually contains multiple concepts and the fine-grained concept annotations are difficult to acquire. In this paper, we propose a novel Concept-Attention Whitening (CAW) framework for interpretable skin lesion diagnosis. CAW is comprised of a disease diagnosis branch and a concept alignment branch. In the former branch, we train the CNN with a CAW layer inserted to perform skin lesion diagnosis. The CAW layer decorrelates features and aligns image features to conceptual meanings via an orthogonal matrix. In the latter branch, we calculate the orthogonal matrix under the guidance of the concept attention mask. We particularly introduce a weakly-supervised concept mask generator that only leverages coarse concept labels for filtering local regions that are relevant to certain concepts, improving the optimization of the orthogonal matrix. Extensive experiments on two public skin lesion diagnosis datasets demonstrated that CAW not only enhanced interpretability but also maintained a state-of-the-art diagnostic performance.

Design as Desired: Utilizing Visual Question Answering for Multimodal Pre-training

Multimodal pre-training demonstrates its potential in the medical domain, which learns medical visual representations from paired medical reports. However, many pre-training tasks require extra annotations from clinicians, and most of them fail to explicitly guide the model to learn the desired features of different pathologies. To the best of our knowledge, we are the first to utilize Visual Question Answering (VQA) for multimodal pre-training to guide the framework focusing on targeted pathological features. In this work, we leverage descriptions in medical reports to design multi-granular question-answer pairs associated with different diseases, which assist the framework in pre-training without requiring extra annotations from experts. We also propose a novel pre-training framework with a quasi-textual feature transformer, a module designed to transform visual features into a quasi-textual space closer to the textual domain via a contrastive learning strategy. This narrows the vision-language gap and facilitates modality alignment. Our framework is applied to four downstream tasks: report generation, classification, segmentation, and detection across five datasets. Extensive experiments demonstrate the superiority of our framework compared to other state-of-the-art methods. Our code will be released upon acceptance.

QMix: Quality-aware Learning with Mixed Noise for Robust Retinal Disease Diagnosis

Due to the complexity of medical image acquisition and the difficulty of annotation, medical image datasets inevitably contain noise. Noisy data with wrong labels affects the robustness and generalization ability of deep neural networks. Previous noise learning methods mainly considered noise arising from images being mislabeled, i.e. label noise, assuming that all mislabeled images are of high image quality. However, medical images are prone to suffering extreme quality issues, i.e. data noise, where discriminative visual features are missing for disease diagnosis. In this paper, we propose a noise learning framework, termed as QMix, that learns a robust disease diagnosis model under mixed noise. QMix alternates between sample separation and quality-aware semisupervised training in each training epoch. In the sample separation phase, we design a joint uncertainty-loss criterion to effectively separate (1) correctly labeled images; (2) mislabeled images with high quality and (3) mislabeled images with low quality. In the semi-supervised training phase, we train a disease diagnosis model to learn robust feature representation from the separated samples. Specifically, we devise a sample-reweighing loss to mitigate the effect of mislabeled images with low quality during training. Meanwhile, a contrastive enhancement loss is proposed to further distinguish mislabeled images with low quality from correctly labeled images. QMix achieved state-of-the-art disease diagnosis performance on five public retinal image datasets and exhibited substantial improvement on robustness against mixed noise.

360+x: A Panoptic Multi-modal Scene Understanding Dataset

Human perception of the world is shaped by a multitude of viewpoints and modalities. While many existing datasets focus on scene understanding from a certain perspective (e.g. egocentric or third-person views), our dataset offers a panoptic perspective (i.e. multiple viewpoints with multiple data modalities). Specifically, we encapsulate third-person panoramic and front views, as well as egocentric monocular/binocular views with rich modalities including video, multi-channel audio, directional binaural delay, location data and textual scene descriptions within each scene captured, presenting comprehensive observation of the world. Figure 1 offers a glimpse of all 28 scene categories of our 360+x dataset. To the best of our knowledge, this is the first database that covers multiple viewpoints with multiple data modalities to mimic how daily information is accessed in the real world. Through our benchmark analysis, we presented 5 different scene understanding tasks on the proposed 360+x dataset to evaluate the impact and benefit of each data modality and perspective in panoptic scene understanding. We hope this unique dataset could broaden the scope of comprehensive scene understanding and encourage the community to approach these problems from more diverse perspectives.

Rethinking Self-training for Semi-supervised Landmark Detection: A Selection-free Approach

Self-training is a simple yet effective method for semi-supervised learning, during which pseudo-label selection plays an important role for handling confirmation bias. Despite its popularity, applying self-training to landmark detection faces three problems: 1) The selected confident pseudo-labels often contain data bias, which may hurt model performance; 2) It is not easy to decide a proper threshold for sample selection as the localization task can be sensitive to noisy pseudo-labels; 3) coordinate regression does not output confidence, making selection-based self-training infeasible. To address the above issues, we propose Self-Training for Landmark Detection (STLD), a method that does not require explicit pseudo-label selection. Instead, STLD constructs a task curriculum to deal with confirmation bias, which progressively transitions from more confident to less confident tasks over the rounds of self-training. Pseudo pretraining and shrink regression are two essential components for such a curriculum, where the former is the first task of the curriculum for providing a better model initialization and the latter is further added in the later rounds to directly leverage the pseudo-labels in a coarse-to-fine manner. Experiments on three facial and one medical landmark detection benchmark show that STLD outperforms the existing methods consistently in both semi- and omni-supervised settings.

MedIAnomaly: A comparative study of anomaly detection in medical images

Anomaly detection (AD) aims at detecting abnormal samples that deviate from the expected normal patterns. Generally, it can be trained on merely normal data without the requirement for abnormal samples, and thereby plays an important role in the recognition of rare diseases and health screening in the medical domain. Despite numerous related studies, we observe a lack of a fair and comprehensive evaluation, which causes some ambiguous conclusions and hinders the development of this field. This paper focuses on building a benchmark with unified implementation and comparison to address this problem. In particular, seven medical datasets with five image modalities, including chest X-rays, brain MRIs, retinal fundus images, dermatoscopic images, and histopathology whole slide images are organized for extensive evaluation. Twenty-seven typical AD methods, including reconstruction and self-supervised learning-based methods, are involved in comparison of image-level anomaly classification and pixel-level anomaly segmentation. Furthermore, we for the first time formally explore the effect of key components in existing methods, clearly revealing unresolved challenges and potential future directions. The datasets and code are available at \url{https://github.com/caiyu6666/MedIAnomaly}.

Foundation Model for Advancing Healthcare: Challenges, Opportunities, and Future Directions

Foundation model, which is pre-trained on broad data and is able to adapt to a wide range of tasks, is advancing healthcare. It promotes the development of healthcare artificial intelligence (AI) models, breaking the contradiction between limited AI models and diverse healthcare practices. Much more widespread healthcare scenarios will benefit from the development of a healthcare foundation model (HFM), improving their advanced intelligent healthcare services. Despite the impending widespread deployment of HFMs, there is currently a lack of clear understanding about how they work in the healthcare field, their current challenges, and where they are headed in the future. To answer these questions, a comprehensive and deep survey of the challenges, opportunities, and future directions of HFMs is presented in this survey. It first conducted a comprehensive overview of the HFM including the methods, data, and applications for a quick grasp of the current progress. Then, it made an in-depth exploration of the challenges present in data, algorithms, and computing infrastructures for constructing and widespread application of foundation models in healthcare. This survey also identifies emerging and promising directions in this field for future development. We believe that this survey will enhance the community's comprehension of the current progress of HFM and serve as a valuable source of guidance for future development in this field. The latest HFM papers and related resources are maintained on our website: https://github.com/YutingHe-list/Awesome-Foundation-Models-for-Advancing-Healthcare.