3D Branch Point Cloud Completion for Robotic Pruning in Apple Orchards

Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of branches. However, the point clouds obtained in agricultural settings often exhibit incompleteness due to several constraints, thereby restricting the accuracy of downstream robotic pruning. In this work, we addressed the issue of point cloud quality through a simulation-based deep neural network, leveraging a Real-to-Simulation (Real2Sim) data generation pipeline that not only eliminates the need for manual parameterization but also guarantees the realism of simulated data. The simulation-based neural network was applied to jointly perform point cloud completion and skeletonization on real-world partial branches, without additional real-world training. The Sim2Real qualitative completion and skeletonization results showed the model's remarkable capability for geometry reconstruction and topology prediction. Additionally, we quantitatively evaluated the Sim2Real performance by comparing branch-level trait characterization errors using raw incomplete data and complete data. The Mean Absolute Error (MAE) reduced by 75% and 8% for branch diameter and branch angle estimation, respectively, using the best complete data, which indicates the effectiveness of the Real2Sim data in a zero-shot generalization setting. The characterization improvements contributed to the precision and efficacy of robotic branch pruning.

A Magnetic Millirobot Walks on Slippery Biological Surfaces for Targeted Cargo Delivery

Small-scale robots hold great potential for targeted cargo delivery in minimally-inv asive medicine. However, current robots often face challenges to locomote efficiently on slip pery biological tissue surfaces, especially when loaded with heavy cargos. Here, we report a magnetic millirobot that can walk on rough and slippery biological tissues by anchoring itself on the soft tissue surface alternatingly with two feet and reciprocally rotating the body to mov e forward. We experimentally studied the locomotion, validated it with numerical simulations and optimized the actuation parameters to fit various terrains and loading conditions. Further more, we developed a permanent magnet set-up to enable wireless actuation within a huma n-scale volume which allows precise control of the millirobot to follow complex trajectories, cl imb vertical walls, and carry cargo up to four times of its own weight. Upon reaching the targ et location, it performs a deployment sequence to release the liquid drug into tissues. The ro bust gait of our millirobot on rough biological terrains, combined with its heavy load capacity, make it a versatile and effective miniaturized vehicle for targeted cargo delivery.

A Miniaturized Device for Ultrafast On-demand Drug Release based on a Gigahertz Ultrasonic Resonator

On-demand controlled drug delivery is essential for the treatment of a wide range of chronic diseases. As the drug is released at the time when required, its efficacy is boosted and the side effects are minimized. However, so far, drug delivery devices often rely on the passive diffusion process for a sustained release, which is slow and uncontrollable. Here, we present a miniaturized microfluidic device for wirelessly controlled ultrafast active drug delivery, driven by an oscillating solid-liquid interface. The oscillation generates acoustic streaming in the drug reservoir, which opens an elastic valve to deliver the drug. High-speed microscopy reveals the fast response of the valve on the order of 1 ms, which is more than three orders of magnitude faster than the start-of-the-art. The amount of the released drug exhibits a linear relationship with the working time and the electric power applied to the ultrasonic resonator. The trigger of the release is wirelessly controlled via a magnetic field, and the system shows stable output in a continuous experiment for two weeks. The integrated system shows great promise as a long-term controlled drug delivery implant for chronic diseases.

ViT-Calibrator: Decision Stream Calibration for Vision Transformer

A surge of interest has emerged in utilizing Transformers in diverse vision tasks owing to its formidable performance. However, existing approaches primarily focus on optimizing internal model architecture designs that often entail significant trial and error with high burdens. In this work, we propose a new paradigm dubbed Decision Stream Calibration that boosts the performance of general Vision Transformers. To achieve this, we shed light on the information propagation mechanism in the learning procedure by exploring the correlation between different tokens and the relevance coefficient of multiple dimensions. Upon further analysis, it was discovered that 1) the final decision is associated with tokens of foreground targets, while token features of foreground target will be transmitted into the next layer as much as possible, and the useless token features of background area will be eliminated gradually in the forward propagation. 2) Each category is solely associated with specific sparse dimensions in the tokens. Based on the discoveries mentioned above, we designed a two-stage calibration scheme, namely ViT-Calibrator, including token propagation calibration stage and dimension propagation calibration stage. Extensive experiments on commonly used datasets show that the proposed approach can achieve promising results. The source codes are given in the supplements.

Team DETR: Guide Queries as a Professional Team in Detection Transformers

Recent proposed DETR variants have made tremendous progress in various scenarios due to their streamlined processes and remarkable performance. However, the learned queries usually explore the global context to generate the final set prediction, resulting in redundant burdens and unfaithful results. More specifically, a query is commonly responsible for objects of different scales and positions, which is a challenge for the query itself, and will cause spatial resource competition among queries. To alleviate this issue, we propose Team DETR, which leverages query collaboration and position constraints to embrace objects of interest more precisely. We also dynamically cater to each query member's prediction preference, offering the query better scale and spatial priors. In addition, the proposed Team DETR is flexible enough to be adapted to other existing DETR variants without increasing parameters and calculations. Extensive experiments on the COCO dataset show that Team DETR achieves remarkable gains, especially for small and large objects. Code is available at \url{https://github.com/horrible-dong/TeamDETR}.

Residual Degradation Learning Unfolding Framework with Mixing Priors across Spectral and Spatial for Compressive Spectral Imaging

To acquire a snapshot spectral image, coded aperture snapshot spectral imaging (CASSI) is proposed. A core problem of the CASSI system is to recover the reliable and fine underlying 3D spectral cube from the 2D measurement. By alternately solving a data subproblem and a prior subproblem, deep unfolding methods achieve good performance. However, in the data subproblem, the used sensing matrix is ill-suited for the real degradation process due to the device errors caused by phase aberration, distortion; in the prior subproblem, it is important to design a suitable model to jointly exploit both spatial and spectral priors. In this paper, we propose a Residual Degradation Learning Unfolding Framework (RDLUF), which bridges the gap between the sensing matrix and the degradation process. Moreover, a Mix$S^2$ Transformer is designed via mixing priors across spectral and spatial to strengthen the spectral-spatial representation capability. Finally, plugging the Mix$S^2$ Transformer into the RDLUF leads to an end-to-end trainable and interpretable neural network RDLUF-Mix$S^2$. Experimental results establish the superior performance of the proposed method over existing ones.

Comparison Knowledge Translation for Generalizable Image Classification

Deep learning has recently achieved remarkable performance in image classification tasks, which depends heavily on massive annotation. However, the classification mechanism of existing deep learning models seems to contrast to humans' recognition mechanism. With only a glance at an image of the object even unknown type, humans can quickly and precisely find other same category objects from massive images, which benefits from daily recognition of various objects. In this paper, we attempt to build a generalizable framework that emulates the humans' recognition mechanism in the image classification task, hoping to improve the classification performance on unseen categories with the support of annotations of other categories. Specifically, we investigate a new task termed Comparison Knowledge Translation (CKT). Given a set of fully labeled categories, CKT aims to translate the comparison knowledge learned from the labeled categories to a set of novel categories. To this end, we put forward a Comparison Classification Translation Network (CCT-Net), which comprises a comparison classifier and a matching discriminator. The comparison classifier is devised to classify whether two images belong to the same category or not, while the matching discriminator works together in an adversarial manner to ensure whether classified results match the truth. Exhaustive experiments show that CCT-Net achieves surprising generalization ability on unseen categories and SOTA performance on target categories.

Can We Leverage Predictive Uncertainty to Detect Dataset Shift and Adversarial Examples in Android Malware Detection?

The deep learning approach to detecting malicious software (malware) is promising but has yet to tackle the problem of dataset shift, namely that the joint distribution of examples and their labels associated with the test set is different from that of the training set. This problem causes the degradation of deep learning models without users' notice. In order to alleviate the problem, one approach is to let a classifier not only predict the label on a given example but also present its uncertainty (or confidence) on the predicted label, whereby a defender can decide whether to use the predicted label or not. While intuitive and clearly important, the capabilities and limitations of this approach have not been well understood. In this paper, we conduct an empirical study to evaluate the quality of predictive uncertainties of malware detectors. Specifically, we re-design and build 24 Android malware detectors (by transforming four off-the-shelf detectors with six calibration methods) and quantify their uncertainties with nine metrics, including three metrics dealing with data imbalance. Our main findings are: (i) predictive uncertainty indeed helps achieve reliable malware detection in the presence of dataset shift, but cannot cope with adversarial evasion attacks; (ii) approximate Bayesian methods are promising to calibrate and generalize malware detectors to deal with dataset shift, but cannot cope with adversarial evasion attacks; (iii) adversarial evasion attacks can render calibration methods useless, and it is an open problem to quantify the uncertainty associated with the predicted labels of adversarial examples (i.e., it is not effective to use predictive uncertainty to detect adversarial examples).