Isaac Ronald Ward

Isaac Ronald Ward, Charles Moore, Kai Pak et al.

Contrastive learning has recently demonstrated superior performance to supervised learning, despite requiring no training labels. We explore how contrastive learning can be applied to hundreds of thousands of unlabeled Mars terrain images, collected from the Mars rovers Curiosity and Perseverance, and from the Mars Reconnaissance Orbiter. Such methods are appealing since the vast majority of Mars images are unlabeled as manual annotation is labor intensive and requires extensive domain knowledge. Contrastive learning, however, assumes that any given pair of distinct images contain distinct semantic content. This is an issue for Mars image datasets, as any two pairs of Mars images are far more likely to be semantically similar due to the lack of visual diversity on the planet's surface. Making the assumption that pairs of images will be in visual contrast - when they are in fact not - results in pairs that are falsely considered as negatives, impacting training performance. In this study, we propose two approaches to resolve this: 1) an unsupervised deep clustering step on the Mars datasets, which identifies clusters of images containing similar semantic content and corrects false negative errors during training, and 2) a simple approach which mixes data from different domains to increase visual diversity of the total training dataset. Both cases reduce the rate of false negative pairs, thus minimizing the rate in which the model is incorrectly penalized during contrastive training. These modified approaches remain fully unsupervised end-to-end. To evaluate their performance, we add a single linear layer trained to generate class predictions based on these contrastively-learned features and demonstrate increased performance compared to supervised models; observing an improvement in classification accuracy of 3.06% using only 10% of the labeled data.

Isaac Ronald Ward, Dylan M. Asmar, Mansur Arief et al.

Deciding on appropriate mechanical ventilator management strategies significantly impacts the health outcomes for patients with respiratory diseases. Acute Respiratory Distress Syndrome (ARDS) is one such disease that requires careful ventilator operation to be effectively treated. In this work, we frame the management of ventilators for patients with ARDS as a sequential decision making problem using the Markov decision process framework. We implement and compare controllers based on clinical guidelines contained in the ARDSnet protocol, optimal control theory, and learned latent dynamics represented as neural networks. The Pulse Physiology Engine's respiratory dynamics simulator is used to establish a repeatable benchmark, gather simulated data, and quantitatively compare these controllers. We score performance in terms of measured improvement in established ARDS health markers (pertaining to improved respiratory rate, oxygenation, and vital signs). Our results demonstrate that techniques leveraging neural networks and optimal control can automatically discover effective ventilation management strategies without access to explicit ventilator management procedures or guidelines (such as those defined in the ARDSnet protocol).

Isaac Ronald Ward

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's loss function is extended in a manner which intuitively combines the positional and rotational error in order to increase robustness to perceptual aliasing. An improvement in the localization accuracy for indoor scenes is observed: with decreases of up to 9.64% and 2.99% in the median positional and rotational error respectively, when compared to the unmodified network. Additionally, photogrammetry data is used to produce a pose-labelled dataset which allows the above model to be trained on a local environment, resulting in localization accuracies of 0.11m & 0.89 degrees. This trained model forms the basis of a navigation algorithm, which is tested in real-time on a TurtleBot (a wheeled robotic device). As such, this work introduces a full pipeline for creating a robust navigational algorithm for any given real world indoor scene; the only requirement being a collection of images from the scene, which can be captured in as little as 330 seconds of

Isaac Ronald Ward, Mark Paral, Kristopher Riordan et al.

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach to autonomy, but are known to not generalize well to `out-of-distribution' environments not encountered during training. In this work, we train a normalizing flow-based prior over the environment, which provides a measure of how far out-of-distribution the quadrotor is at any given time. We use this measure as a runtime monitor, allowing us to switch between a learning-based controller and a safe controller when we are sufficiently out-of-distribution. Our methods are benchmarked on a point-to-point navigation task in a simulated 3D cave environment based on real-world point cloud data from the DARPA Subterranean Challenge Final Event Dataset. Our experimental results show that our combined controller simultaneously possesses the liveness of the learning-based controller (completing the task quickly) and the safety of the safety controller (avoiding collision).

Isaac Ronald Ward, Ling Wang, Juan lu et al.

Explainable Artificial Intelligence (XAI) has been identified as a viable method for determining the importance of features when making predictions using Machine Learning (ML) models. In this study, we created models that take an individual's health information (e.g. their drug history and comorbidities) as inputs, and predict the probability that the individual will have an Acute Coronary Syndrome (ACS) adverse outcome. Using XAI, we quantified the contribution that specific drugs had on these ACS predictions, thus creating an XAI-based technique for pharmacovigilance monitoring, using ACS as an example of the adverse outcome to detect. Individuals aged over 65 who were supplied Musculo-skeletal system (anatomical therapeutic chemical (ATC) class M) or Cardiovascular system (ATC class C) drugs between 1993 and 2009 were identified, and their drug histories, comorbidities, and other key features were extracted from linked Western Australian datasets. Multiple ML models were trained to predict if these individuals would have an ACS related adverse outcome (i.e., death or hospitalisation with a discharge diagnosis of ACS), and a variety of ML and XAI techniques were used to calculate which features -- specifically which drugs -- led to these predictions. The drug dispensing features for rofecoxib and celecoxib were found to have a greater than zero contribution to ACS related adverse outcome predictions (on average), and it was found that ACS related adverse outcomes can be predicted with 72% accuracy. Furthermore, the XAI libraries LIME and SHAP were found to successfully identify both important and unimportant features, with SHAP slightly outperforming LIME. ML models trained on linked administrative health datasets in tandem with XAI algorithms can successfully quantify feature importance, and with further development, could potentially be used as pharmacovigilance monitoring techniques.

Isaac Ronald Ward, Jack Joyner, Casey Lickfold et al.

Graph neural networks (GNNs) have recently grown in popularity in the field of artificial intelligence (AI) due to their unique ability to ingest relatively unstructured data types as input data. Although some elements of the GNN architecture are conceptually similar in operation to traditional neural networks (and neural network variants), other elements represent a departure from traditional deep learning techniques. This tutorial exposes the power and novelty of GNNs to AI practitioners by collating and presenting details regarding the motivations, concepts, mathematics, and applications of the most common and performant variants of GNNs. Importantly, we present this tutorial concisely, alongside practical examples, thus providing a practical and accessible tutorial on the topic of GNNs.

Isaac Ronald Ward, Hamid Laga, Mohammed Bennamoun

Object detection from RGB images is a long-standing problem in image processing and computer vision. It has applications in various domains including robotics, surveillance, human-computer interaction, and medical diagnosis. With the availability of low cost 3D scanners, a large number of RGB-D object detection approaches have been proposed in the past years. This chapter provides a comprehensive survey of the recent developments in this field. We structure the chapter into two parts; the focus of the first part is on techniques that are based on hand-crafted features combined with machine learning algorithms. The focus of the second part is on the more recent work, which is based on deep learning. Deep learning techniques, coupled with the availability of large training datasets, have now revolutionized the field of computer vision, including RGB-D object detection, achieving an unprecedented level of performance. We survey the key contributions, summarize the most commonly used pipelines, discuss their benefits and limitations, and highlight some important directions for future research.

Isaac Ronald Ward, M. A. Asim K. Jalwana, Mohammed Bennamoun

This work investigates the impact of the loss function on the performance of Neural Networks, in the context of a monocular, RGB-only, image localization task. A common technique used when regressing a camera's pose from an image is to formulate the loss as a linear combination of positional and rotational mean squared error (using tuned hyperparameters as coefficients). In this work we observe that changes to rotation and position mutually affect the captured image, and in order to improve performance, a pose regression network's loss function should include a term which combines the error of both of these coupled quantities. Based on task specific observations and experimental tuning, we present said loss term, and create a new model by appending this loss term to the loss function of the pre-existing pose regression network `PoseNet'. We achieve improvements in the localization accuracy of the network for indoor scenes; with decreases of up to 26.7% and 24.0% in the median positional and rotational error respectively, when compared to the default PoseNet.

Benjamin Allaert, Isaac Ronald Ward, Ioan Marius Bilasco et al.

Optical flow techniques are becoming increasingly performant and robust when estimating motion in a scene, but their performance has yet to be proven in the area of facial expression recognition. In this work, a variety of optical flow approaches are evaluated across multiple facial expression datasets, so as to provide a consistent performance evaluation. The aim of this work is not to propose a new expression recognition technique, but to understand better the adequacy of existing state-of-the art optical flow for encoding facial motion in the context of facial expression recognition. Our evaluations highlight the fact that motion approximation methods used to overcome motion discontinuities have a significant impact when optical flows are used to characterize facial expressions.