Deep Seam Prediction for Image Stitching Based on Selection Consistency Loss

Image stitching is to construct panoramic images with wider field of vision (FOV) from some images captured from different viewing positions. To solve the problem of fusion ghosting in the stitched image, seam-driven methods avoid the misalignment area to fuse images by predicting the best seam. Currently, as standard tools of the OpenCV library, dynamic programming (DP) and GraphCut (GC) are still the only commonly used seam prediction methods despite the fact that they were both proposed two decades ago. However, GC can get excellent seam quality but poor real-time performance while DP method has good efficiency but poor seam quality. In this paper, we propose a deep learning based seam prediction method (DSeam) for the sake of high seam quality with high efficiency. To overcome the difficulty of the seam description in network and no GroundTruth for training we design a selective consistency loss combining the seam shape constraint and seam quality constraint to supervise the network learning. By the constraint of the selection of consistency loss, we implicitly defined the mask boundaries as seams and transform seam prediction into mask prediction. To our knowledge, the proposed DSeam is the first deep learning based seam prediction method for image stitching. Extensive experimental results well demonstrate the superior performance of our proposed Dseam method which is 15 times faster than the classic GC seam prediction method in OpenCV 2.4.9 with similar seam quality.

On the Structural Generalization in Text-to-SQL

Exploring the generalization of a text-to-SQL parser is essential for a system to automatically adapt the real-world databases. Previous works provided investigations focusing on lexical diversity, including the influence of the synonym and perturbations in both natural language questions and databases. However, research on the structure variety of database schema~(DS) is deficient. Specifically, confronted with the same input question, the target SQL is probably represented in different ways when the DS comes to a different structure. In this work, we provide in-deep discussions about the structural generalization of text-to-SQL tasks. We observe that current datasets are too templated to study structural generalization. To collect eligible test data, we propose a framework to generate novel text-to-SQL data via automatic and synchronous (DS, SQL) pair altering. In the experiments, significant performance reduction when evaluating well-trained text-to-SQL models on the synthetic samples demonstrates the limitation of current research regarding structural generalization. According to comprehensive analysis, we suggest the practical reason is the overfitting of (NL, SQL) patterns.

Cross Far- and Near-field Wireless Communications in Terahertz Ultra-large Antenna Array Systems

Terahertz (THz) band owning the abundant multi-ten-GHz bandwidth is capable to support Terabit-per-second wireless communications, which is a pillar technology for 6G and beyond systems. With sub-millimeter-long antennas, ultra-massive (UM) MIMO and intelligent surface (IS) systems with thousands of array elements are exploited to effectively combat the distance limitation and blockage problems, which compose a promising THz ultra-large antenna array (ULAA) system. As a combined effect of wavelength and array aperture, the resulting coverage of THz systems ranges from near-field to far-field, leading to a new paradigm of cross-field communications. Although channel models, communications theories, and networking strategies have been studied for far-field and near-field separately, the unified design of cross-field communications that achieve high spectral efficiency and low complexity is still missing. In this article, the challenges and features of THz ULAA cross-field communications are investigated. Furthermore, cross-field solutions in three perspectives are presented, including a hybrid spherical- and planar-wave channel model, cross-field channel estimation, and widely-spaced multi-subarray hybrid beamforming, where a subarray as a basic unit in THz ULAA systems is exploited. The approximation error of channel modeling accuracy, spectral efficiency, and estimation error of these designs are numerically evaluated. Finally, as a roadmap of THz ULAA cross-field communications, multiple open problems and potential research directions are elaborated.

Risk-Averse MDPs under Reward Ambiguity

We propose a distributionally robust return-risk model for Markov decision processes (MDPs) under risk and reward ambiguity. The proposed model optimizes the weighted average of mean and percentile performances, and it covers the distributionally robust MDPs and the distributionally robust chance-constrained MDPs (both under reward ambiguity) as special cases. By considering that the unknown reward distribution lies in a Wasserstein ambiguity set, we derive the tractable reformulation for our model. In particular, we show that that the return-risk model can also account for risk from uncertain transition kernel when one only seeks deterministic policies, and that a distributionally robust MDP under the percentile criterion can be reformulated as its nominal counterpart at an adjusted risk level. A scalable first-order algorithm is designed to solve large-scale problems, and we demonstrate the advantages of our proposed model and algorithm through numerical experiments.

FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators

In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots, while the narrow stretching range of FBG fiber makes it difficult to acquire accurate sensing results for extensible robots. Towards this limitation, we newly introduce an FBG-based length sensor by leveraging a rigid curved channel, through which FBGs are allowed to slide within the robot following its body extension/compression, hence we can search and match the FBGs with specific constant curvature in the fiber to determine the effective length. From the fusion with the above measurements, a model-free filtering technique is accordingly presented for simultaneous calibration of a variable-length model and temporally continuous length estimation of the robot, enabling its accurate shape sensing using solely FBGs. The performances of the proposed method have been experimentally evaluated on an extensible soft robot equipped with an FBG fiber in both free and unstructured environments. The results concerning dynamic accuracy and robustness of length estimation and shape sensing demonstrate the effectiveness of our approach.

Extracting lung function-correlated information from CT-encoded static textures

The inherent characteristics of lung tissues, which are independent of breathing manoeuvre, may provide fundamental information on lung function. This paper attempted to study function-correlated lung textures and their spatial distribution from CT. 21 lung cancer patients with thoracic 4DCT scans, DTPA-SPECT ventilation images (V), and available pulmonary function test (PFT) measurements were collected. 79 radiomic features were included for analysis, and a sparse-to-fine strategy including subregional feature discovery and voxel-wise feature distribution study was carried out to identify the function-correlated radiomic features. At the subregion level, lung CT images were partitioned and labeled as defected/non-defected patches according to reference V. At the voxel-wise level, feature maps (FMs) of selected feature candidates were generated for each 4DCT phase. Quantitative metrics, including Spearman coefficient of correlation (SCC) and Dice similarity coefficient (DSC) for FM-V spatial agreement assessments, intra-class coefficient of correlation (ICC) for FM robustness evaluations, and FM-PFT comparisons, were applied to validate the results. At the subregion level, eight function-correlated features were filtered out with medium-to-large statistical strength (effect size>0.330) to differentiate defected/non-defected lung regions. At the voxel-wise level, FMs of candidates yielded moderate-to-strong voxel-wise correlations with reference V. Among them, FMs of GLDM Dependence Non-uniformity showed the highest robust (ICC=0.96) spatial correlation, with median SCCs ranging from 0.54 to 0.59 throughout ten phases. Its phase-averaged FM achieved a median SCC of 0.60, the median DSC of 0.60/0.65 for high/low functional lung volumes, respectively, and the correlation of 0.646 between the spatially averaged feature values and PFT measurements.

TimberTrek: Exploring and Curating Sparse Decision Trees with Interactive Visualization

Given thousands of equally accurate machine learning (ML) models, how can users choose among them? A recent ML technique enables domain experts and data scientists to generate a complete Rashomon set for sparse decision trees--a huge set of almost-optimal interpretable ML models. To help ML practitioners identify models with desirable properties from this Rashomon set, we develop TimberTrek, the first interactive visualization system that summarizes thousands of sparse decision trees at scale. Two usage scenarios highlight how TimberTrek can empower users to easily explore, compare, and curate models that align with their domain knowledge and values. Our open-source tool runs directly in users' computational notebooks and web browsers, lowering the barrier to creating more responsible ML models. TimberTrek is available at the following public demo link: https://poloclub.github.io/timbertrek.

Exploring the Whole Rashomon Set of Sparse Decision Trees

In any given machine learning problem, there may be many models that could explain the data almost equally well. However, most learning algorithms return only one of these models, leaving practitioners with no practical way to explore alternative models that might have desirable properties beyond what could be expressed within a loss function. The Rashomon set is the set of these all almost-optimal models. Rashomon sets can be extremely complicated, particularly for highly nonlinear function classes that allow complex interaction terms, such as decision trees. We provide the first technique for completely enumerating the Rashomon set for sparse decision trees; in fact, our work provides the first complete enumeration of any Rashomon set for a non-trivial problem with a highly nonlinear discrete function class. This allows the user an unprecedented level of control over model choice among all models that are approximately equally good. We represent the Rashomon set in a specialized data structure that supports efficient querying and sampling. We show three applications of the Rashomon set: 1) it can be used to study variable importance for the set of almost-optimal trees (as opposed to a single tree), 2) the Rashomon set for accuracy enables enumeration of the Rashomon sets for balanced accuracy and F1-score, and 3) the Rashomon set for a full dataset can be used to produce Rashomon sets constructed with only subsets of the data set. Thus, we are able to examine Rashomon sets across problems with a new lens, enabling users to choose models rather than be at the mercy of an algorithm that produces only a single model.

Robust Data-Driven 3-D Shape Servoing of Unmodeled Continuum Robots Using FBG Sensors in Unstructured Environments

In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are crucial for continuum robots to perform the tasks autonomously in surgical interventions. However, owing to the nonlinear properties of continuum robots, one main difficulty lies in the modeling of them, especially for soft robots with variable stiffness. To address this problem, we propose a new robust adaptive controller by leveraging FBG shape feedback and neural networks (NNs) that can online estimate the unknown model of continuum robot and accounts for unexpected disturbances together with NN approximation errors, which exhibits an adaptive behavior to the unmodeled system without priori data exploration. Based on a new composite adaptation algorithm, the asymptotic convergences of the closed-loop system with NNs learning parameters have been proven by Lyapunov theory. To validate the proposed method, we present a comprehensive experimental study by using two continuum robots both integrated with multi-core FBGs, including a robotic-assisted colonoscope and multi-section extensible soft manipulators. The results demonstrate the feasibility, adaptability, and superiority of our controller in various unstructured environments as well as phantom experiments.

OPAL: Ontology-Aware Pretrained Language Model for End-to-End Task-Oriented Dialogue

This paper presents an ontology-aware pretrained language model (OPAL) for end-to-end task-oriented dialogue (TOD). Unlike chit-chat dialogue models, task-oriented dialogue models fulfill at least two task-specific modules: dialogue state tracker (DST) and response generator (RG). The dialogue state consists of the domain-slot-value triples, which are regarded as the user's constraints to search the domain-related databases. The large-scale task-oriented dialogue data with the annotated structured dialogue state usually are inaccessible. It prevents the development of the pretrained language model for the task-oriented dialogue. We propose a simple yet effective pretraining method to alleviate this problem, which consists of two pretraining phases. The first phase is to pretrain on large-scale contextual text data, where the structured information of the text is extracted by the information extracting tool. To bridge the gap between the pretraining method and downstream tasks, we design two pretraining tasks: ontology-like triple recovery and next-text generation, which simulates the DST and RG, respectively. The second phase is to fine-tune the pretrained model on the TOD data. The experimental results show that our proposed method achieves an exciting boost and get competitive performance even without any TOD data on CamRest676 and MultiWOZ benchmarks.