Stereo matching and semantic segmentation are significant tasks in binocular satellite 3D reconstruction. However, previous studies primarily view these as independent parallel tasks, lacking an integrated multitask learning framework. This work introduces a solution, the Single-branch Semantic Stereo Network (S3Net), which innovatively combines semantic segmentation and stereo matching using Self-Fuse and Mutual-Fuse modules. Unlike preceding methods that utilize semantic or disparity information independently, our method dentifies and leverages the intrinsic link between these two tasks, leading to a more accurate understanding of semantic information and disparity estimation. Comparative testing on the US3D dataset proves the effectiveness of our S3Net. Our model improves the mIoU in semantic segmentation from 61.38 to 67.39, and reduces the D1-Error and average endpoint error (EPE) in disparity estimation from 10.051 to 9.579 and 1.439 to 1.403 respectively, surpassing existing competitive methods. Our codes are available at:https://github.com/CVEO/S3Net.
Recent work on Neural Radiance Fields (NeRF) exploits multi-view 3D consistency, achieving impressive results in 3D scene modeling and high-fidelity novel-view synthesis. However, there are limitations. First, existing methods assume enough high-quality images are available for training the NeRF model, ignoring real-world image degradation. Second, previous methods struggle with ambiguity in the training set due to unmodeled inconsistencies among different views. In this work, we present RustNeRF for real-world high-quality NeRF. To improve NeRF's robustness under real-world inputs, we train a 3D-aware preprocessing network that incorporates real-world degradation modeling. We propose a novel implicit multi-view guidance to address information loss during image degradation and restoration. Extensive experiments demonstrate RustNeRF's advantages over existing approaches under real-world degradation. The code will be released.
Pan-sharpening involves reconstructing missing high-frequency information in multi-spectral images with low spatial resolution, using a higher-resolution panchromatic image as guidance. Although the inborn connection with frequency domain, existing pan-sharpening research has not almost investigated the potential solution upon frequency domain. To this end, we propose a novel Frequency Adaptive Mixture of Experts (FAME) learning framework for pan-sharpening, which consists of three key components: the Adaptive Frequency Separation Prediction Module, the Sub-Frequency Learning Expert Module, and the Expert Mixture Module. In detail, the first leverages the discrete cosine transform to perform frequency separation by predicting the frequency mask. On the basis of generated mask, the second with low-frequency MOE and high-frequency MOE takes account for enabling the effective low-frequency and high-frequency information reconstruction. Followed by, the final fusion module dynamically weights high-frequency and low-frequency MOE knowledge to adapt to remote sensing images with significant content variations. Quantitative and qualitative experiments over multiple datasets demonstrate that our method performs the best against other state-of-the-art ones and comprises a strong generalization ability for real-world scenes. Code will be made publicly at \url{https://github.com/alexhe101/FAME-Net}.
The development of multi-modal medical foundation models has attracted significant attention in the field of medicine and healthcare due to their promising prospects in various clinical applications. One area of focus in this research direction is the extractions of features at different scales. While previous studies have explored feature learning at individual scales, investigation on integrating the diverse scales and modalities of information is lacking, which may hinder the potential for mutual reinforcement among these features. This paper aims to bridge this gap by proposing a method that effectively exploits multi-scale and cross-modality information to enhance the performance of medical foundation models. The proposed method simultaneously exploit features at the local, instance, modality and global aspects, facilitating comprehensive representation learning within the models. We evaluate the effectiveness of the proposed method on six open-source datasets across different clinical tasks, demonstrating its ability to enhance the performance of medical foundation models.
Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level robot actions, effectively bridging the interface between high-level planning and low-level robot control. However, the challenge remains that even with syntactically correct plans, robots can still fail to achieve their intended goals. This failure can be attributed to imperfect plans proposed by LLMs or to unforeseeable environmental circumstances that hinder the execution of planned subtasks due to erroneous assumptions about the state of objects. One way to prevent these challenges is to rely on human-provided step-by-step instructions, limiting the autonomy of robotic systems. Vision Language Models (VLMs) have shown remarkable success in tasks such as visual question answering and image captioning. Leveraging the capabilities of VLMs, we present a novel framework called Robotic Replanning with Perception and Language Models (RePLan) that enables real-time replanning capabilities for long-horizon tasks. This framework utilizes the physical grounding provided by a VLM's understanding of the world's state to adapt robot actions when the initial plan fails to achieve the desired goal. We test our approach within four environments containing seven long-horizion tasks. We find that RePLan enables a robot to successfully adapt to unforeseen obstacles while accomplishing open-ended, long-horizon goals, where baseline models cannot. Find more information at https://replan-lm.github.io/replan.github.io/
We consider a wireless networked control system (WNCS) with bidirectional imperfect links for real-time applications such as smart grids. To maintain the stability of WNCS, captured by the probability that plant state violates preset values, at minimal cost, heterogeneous physical processes are monitored by multiple sensors. This status information, such as dynamic plant state and Markov Process-based context information, is then received/estimated by the controller for remote control. However, scheduling multiple sensors and designing the controller with limited resources is challenging due to their coupling, delay, and transmission loss. We formulate a Constrained Markov Decision Problem (CMDP) to minimize violation probability with cost constraints. We reveal the relationship between the goal and different updating actions by analyzing the significance of information that incorporates goal-related usefulness and contextual importance. Subsequently, a goal-oriented deterministic scheduling policy is proposed. Two sensing-assisted control strategies and a control-aware estimation policy are proposed to improve the violation probability-cost tradeoff, integrated with the scheduling policy to form a goal-oriented co-design framework. Additionally, we explore retransmission in downlink transmission and qualitatively analyze its preference scenario. Simulation results demonstrate that the proposed goal-oriented co-design policy outperforms previous work in simultaneously reducing violation probability and cost
Background: Evidence-based medicine (EBM) is fundamental to modern clinical practice, requiring clinicians to continually update their knowledge and apply the best clinical evidence in patient care. The practice of EBM faces challenges due to rapid advancements in medical research, leading to information overload for clinicians. The integration of artificial intelligence (AI), specifically Generative Large Language Models (LLMs), offers a promising solution towards managing this complexity. Methods: This study involved the curation of real-world clinical cases across various specialties, converting them into .json files for analysis. LLMs, including proprietary models like ChatGPT 3.5 and 4, Gemini Pro, and open-source models like LLaMA v2 and Mixtral-8x7B, were employed. These models were equipped with tools to retrieve information from case files and make clinical decisions similar to how clinicians must operate in the real world. Model performance was evaluated based on correctness of final answer, judicious use of tools, conformity to guidelines, and resistance to hallucinations. Results: GPT-4 was most capable of autonomous operation in a clinical setting, being generally more effective in ordering relevant investigations and conforming to clinical guidelines. Limitations were observed in terms of model ability to handle complex guidelines and diagnostic nuances. Retrieval Augmented Generation made recommendations more tailored to patients and healthcare systems. Conclusions: LLMs can be made to function as autonomous practitioners of evidence-based medicine. Their ability to utilize tooling can be harnessed to interact with the infrastructure of a real-world healthcare system and perform the tasks of patient management in a guideline directed manner. Prompt engineering may help to further enhance this potential and transform healthcare for the clinician and the patient.
Traffic flow prediction plays a crucial role in alleviating traffic congestion and enhancing transport efficiency. While combining graph convolution networks with recurrent neural networks for spatial-temporal modeling is a common strategy in this realm, the restricted structure of recurrent neural networks limits their ability to capture global information. For spatial modeling, many prior studies learn a graph structure that is assumed to be fixed and uniform at all time steps, which may not be true. This paper introduces a novel traffic prediction framework, Global-Aware Enhanced Spatial-Temporal Graph Recurrent Network (GA-STGRN), comprising two core components: a spatial-temporal graph recurrent neural network and a global awareness layer. Within this framework, three innovative prediction models are formulated. A sequence-aware graph neural network is proposed and integrated into the Gated Recurrent Unit (GRU) to learn non-fixed graphs at different time steps and capture local temporal relationships. To enhance the model's global perception, three distinct global spatial-temporal transformer-like architectures (GST^2) are devised for the global awareness layer. We conduct extensive experiments on four real traffic datasets and the results demonstrate the superiority of our framework and the three concrete models.
This paper studies a secure cell-free integrated sensing and communication (ISAC) system, in which multiple ISAC transmitters collaboratively send confidential information to multiple communication users (CUs) and concurrently conduct target detection. Different from prior works investigating communication security against potential information eavesdropping, we consider the security of both communication and sensing in the presence of both information and sensing eavesdroppers that aim to intercept confidential communication information and extract target information, respectively. Towards this end, we optimize the joint information and sensing transmit beamforming at these ISAC transmitters for secure cell-free ISAC. Our objective is to maximize the detection probability over a designated sensing area while ensuring the minimum signal-to-interference-plus-noise-ratio (SINR) requirements at CUs. Our formulation also takes into account the maximum tolerable signal-to-noise ratio (SNR) at information eavesdroppers for ensuring the confidentiality of information transmission, and the maximum detection probability constraints at sensing eavesdroppers for preserving sensing privacy. The formulated secure joint transmit beamforming problem is highly non-convex due to the intricate interplay between the detection probabilities, beamforming vectors, and SINR constraints. Fortunately, through strategic manipulation and via applying the semidefinite relaxation (SDR) technique, we successfully obtain the globally optimal solution to the design problem by rigorously verifying the tightness of SDR. Furthermore, we present two alternative joint beamforming designs based on the sensing SNR maximization over the specific sensing area and the coordinated beamforming, respectively. Numerical results reveal the benefits of our proposed design over these alternative benchmarks.
In the realm of artificial intelligence, the emergence of foundation models, backed by high computing capabilities and extensive data, has been revolutionary. Segment Anything Model (SAM), built on the Vision Transformer (ViT) model with millions of parameters and vast training dataset SA-1B, excels in various segmentation scenarios relying on its significance of semantic information and generalization ability. Such achievement of visual foundation model stimulates continuous researches on specific downstream tasks in computer vision. The ClassWise-SAM-Adapter (CWSAM) is designed to adapt the high-performing SAM for landcover classification on space-borne Synthetic Aperture Radar (SAR) images. The proposed CWSAM freezes most of SAM's parameters and incorporates lightweight adapters for parameter efficient fine-tuning, and a classwise mask decoder is designed to achieve semantic segmentation task. This adapt-tuning method allows for efficient landcover classification of SAR images, balancing the accuracy with computational demand. In addition, the task specific input module injects low frequency information of SAR images by MLP-based layers to improve the model performance. Compared to conventional state-of-the-art semantic segmentation algorithms by extensive experiments, CWSAM showcases enhanced performance with fewer computing resources, highlighting the potential of leveraging foundational models like SAM for specific downstream tasks in the SAR domain. The source code is available at: https://github.com/xypu98/CWSAM.