JointViT: Modeling Oxygen Saturation Levels with Joint Supervision on Long-Tailed OCTA

The oxygen saturation level in the blood (SaO2) is crucial for health, particularly in relation to sleep-related breathing disorders. However, continuous monitoring of SaO2 is time-consuming and highly variable depending on patients' conditions. Recently, optical coherence tomography angiography (OCTA) has shown promising development in rapidly and effectively screening eye-related lesions, offering the potential for diagnosing sleep-related disorders. To bridge this gap, our paper presents three key contributions. Firstly, we propose JointViT, a novel model based on the Vision Transformer architecture, incorporating a joint loss function for supervision. Secondly, we introduce a balancing augmentation technique during data preprocessing to improve the model's performance, particularly on the long-tail distribution within the OCTA dataset. Lastly, through comprehensive experiments on the OCTA dataset, our proposed method significantly outperforms other state-of-the-art methods, achieving improvements of up to 12.28% in overall accuracy. This advancement lays the groundwork for the future utilization of OCTA in diagnosing sleep-related disorders. See project website https://steve-zeyu-zhang.github.io/JointViT

Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V

Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. We present COME-robot, the first closed-loop framework utilizing the GPT-4V vision-language foundation model for open-ended reasoning and adaptive planning in real-world scenarios. We meticulously construct a library of action primitives for robot exploration, navigation, and manipulation, serving as callable execution modules for GPT-4V in task planning. On top of these modules, GPT-4V serves as the brain that can accomplish multimodal reasoning, generate action policy with code, verify the task progress, and provide feedback for replanning. Such design enables COME-robot to (i) actively perceive the environments, (ii) perform situated reasoning, and (iii) recover from failures. Through comprehensive experiments involving 8 challenging real-world tabletop and manipulation tasks, COME-robot demonstrates a significant improvement in task success rate (~25%) compared to state-of-the-art baseline methods. We further conduct comprehensive analyses to elucidate how COME-robot's design facilitates failure recovery, free-form instruction following, and long-horizon task planning.

Pathology-genomic fusion via biologically informed cross-modality graph learning for survival analysis

The diagnosis and prognosis of cancer are typically based on multi-modal clinical data, including histology images and genomic data, due to the complex pathogenesis and high heterogeneity. Despite the advancements in digital pathology and high-throughput genome sequencing, establishing effective multi-modal fusion models for survival prediction and revealing the potential association between histopathology and transcriptomics remains challenging. In this paper, we propose Pathology-Genome Heterogeneous Graph (PGHG) that integrates whole slide images (WSI) and bulk RNA-Seq expression data with heterogeneous graph neural network for cancer survival analysis. The PGHG consists of biological knowledge-guided representation learning network and pathology-genome heterogeneous graph. The representation learning network utilizes the biological prior knowledge of intra-modal and inter-modal data associations to guide the feature extraction. The node features of each modality are updated through attention-based graph learning strategy. Unimodal features and bi-modal fused features are extracted via attention pooling module and then used for survival prediction. We evaluate the model on low-grade gliomas, glioblastoma, and kidney renal papillary cell carcinoma datasets from the Cancer Genome Atlas (TCGA) and the First Affiliated Hospital of Zhengzhou University (FAHZU). Extensive experimental results demonstrate that the proposed method outperforms both unimodal and other multi-modal fusion models. For demonstrating the model interpretability, we also visualize the attention heatmap of pathological images and utilize integrated gradient algorithm to identify important tissue structure, biological pathways and key genes.

Sine Activated Low-Rank Matrices for Parameter Efficient Learning

Low-rank decomposition has emerged as a vital tool for enhancing parameter efficiency in neural network architectures, gaining traction across diverse applications in machine learning. These techniques significantly lower the number of parameters, striking a balance between compactness and performance. However, a common challenge has been the compromise between parameter efficiency and the accuracy of the model, where reduced parameters often lead to diminished accuracy compared to their full-rank counterparts. In this work, we propose a novel theoretical framework that integrates a sinusoidal function within the low-rank decomposition process. This approach not only preserves the benefits of the parameter efficiency characteristic of low-rank methods but also increases the decomposition's rank, thereby enhancing model accuracy. Our method proves to be an adaptable enhancement for existing low-rank models, as evidenced by its successful application in Vision Transformers (ViT), Large Language Models (LLMs), Neural Radiance Fields (NeRF), and 3D shape modeling. This demonstrates the wide-ranging potential and efficiency of our proposed technique.

Manifold Regularization Classification Model Based On Improved Diffusion Map

Manifold regularization model is a semi-supervised learning model that leverages the geometric structure of a dataset, comprising a small number of labeled samples and a large number of unlabeled samples, to generate classifiers. However, the original manifold norm limits the performance of models to local regions. To address this limitation, this paper proposes an approach to improve manifold regularization based on a label propagation model. We initially enhance the probability transition matrix of the diffusion map algorithm, which can be used to estimate the Neumann heat kernel, enabling it to accurately depict the label propagation process on the manifold. Using this matrix, we establish a label propagation function on the dataset to describe the distribution of labels at different time steps. Subsequently, we extend the label propagation function to the entire data manifold. We prove that the extended label propagation function converges to a stable distribution after a sufficiently long time and can be considered as a classifier. Building upon this concept, we propose a viable improvement to the manifold regularization model and validate its superiority through experiments.

Auto-Train-Once: Controller Network Guided Automatic Network Pruning from Scratch

Current techniques for deep neural network (DNN) pruning often involve intricate multi-step processes that require domain-specific expertise, making their widespread adoption challenging. To address the limitation, the Only-Train-Once (OTO) and OTOv2 are proposed to eliminate the need for additional fine-tuning steps by directly training and compressing a general DNN from scratch. Nevertheless, the static design of optimizers (in OTO) can lead to convergence issues of local optima. In this paper, we proposed the Auto-Train-Once (ATO), an innovative network pruning algorithm designed to automatically reduce the computational and storage costs of DNNs. During the model training phase, our approach not only trains the target model but also leverages a controller network as an architecture generator to guide the learning of target model weights. Furthermore, we developed a novel stochastic gradient algorithm that enhances the coordination between model training and controller network training, thereby improving pruning performance. We provide a comprehensive convergence analysis as well as extensive experiments, and the results show that our approach achieves state-of-the-art performance across various model architectures (including ResNet18, ResNet34, ResNet50, ResNet56, and MobileNetv2) on standard benchmark datasets (CIFAR-10, CIFAR-100, and ImageNet).

LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning

Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing emerging tasks in real-world settings. Here, we present LLM^3, a novel Large Language Model (LLM)-based TAMP framework featuring a domain-independent interface. Specifically, we leverage the powerful reasoning and planning capabilities of pre-trained LLMs to propose symbolic action sequences and select continuous action parameters for motion planning. Crucially, LLM^3 incorporates motion planning feedback through prompting, allowing the LLM to iteratively refine its proposals by reasoning about motion failure. Consequently, LLM^3 interfaces between task planning and motion planning, alleviating the intricate design process of handling domain-specific messages between them. Through a series of simulations in a box-packing domain, we quantitatively demonstrate the effectiveness of LLM^3 in solving TAMP problems and the efficiency in selecting action parameters. Ablation studies underscore the significant contribution of motion failure reasoning to the success of LLM^3. Furthermore, we conduct qualitative experiments on a physical manipulator, demonstrating the practical applicability of our approach in real-world settings.

Motion Mamba: Efficient and Long Sequence Motion Generation with Hierarchical and Bidirectional Selective SSM

Human motion generation stands as a significant pursuit in generative computer vision, while achieving long-sequence and efficient motion generation remains challenging. Recent advancements in state space models (SSMs), notably Mamba, have showcased considerable promise in long sequence modeling with an efficient hardware-aware design, which appears to be a promising direction to build motion generation model upon it. Nevertheless, adapting SSMs to motion generation faces hurdles since the lack of a specialized design architecture to model motion sequence. To address these challenges, we propose Motion Mamba, a simple and efficient approach that presents the pioneering motion generation model utilized SSMs. Specifically, we design a Hierarchical Temporal Mamba (HTM) block to process temporal data by ensemble varying numbers of isolated SSM modules across a symmetric U-Net architecture aimed at preserving motion consistency between frames. We also design a Bidirectional Spatial Mamba (BSM) block to bidirectionally process latent poses, to enhance accurate motion generation within a temporal frame. Our proposed method achieves up to 50% FID improvement and up to 4 times faster on the HumanML3D and KIT-ML datasets compared to the previous best diffusion-based method, which demonstrates strong capabilities of high-quality long sequence motion modeling and real-time human motion generation. See project website https://steve-zeyu-zhang.github.io/MotionMamba/

Strong and Controllable Blind Image Decomposition

Blind image decomposition aims to decompose all components present in an image, typically used to restore a multi-degraded input image. While fully recovering the clean image is appealing, in some scenarios, users might want to retain certain degradations, such as watermarks, for copyright protection. To address this need, we add controllability to the blind image decomposition process, allowing users to enter which types of degradation to remove or retain. We design an architecture named controllable blind image decomposition network. Inserted in the middle of U-Net structure, our method first decomposes the input feature maps and then recombines them according to user instructions. Advantageously, this functionality is implemented at minimal computational cost: decomposition and recombination are all parameter-free. Experimentally, our system excels in blind image decomposition tasks and can outputs partially or fully restored images that well reflect user intentions. Furthermore, we evaluate and configure different options for the network structure and loss functions. This, combined with the proposed decomposition-and-recombination method, yields an efficient and competitive system for blind image decomposition, compared with current state-of-the-art methods.