Kelvin K. L. Wong

Alexander Cui, Sergio Casas, Kelvin Wong et al. · utoronto

The task of motion forecasting is critical for self-driving vehicles (SDVs) to be able to plan a safe maneuver. Towards this goal, modern approaches reason about the map, the agents' past trajectories and their interactions in order to produce accurate forecasts. The predominant approach has been to encode the map and other agents in the reference frame of each target agent. However, this approach is computationally expensive for multi-agent prediction as inference needs to be run for each agent. To tackle the scaling challenge, the solution thus far has been to encode all agents and the map in a shared coordinate frame (e.g., the SDV frame). However, this is sample inefficient and vulnerable to domain shift (e.g., when the SDV visits uncommon states). In contrast, in this paper, we propose an efficient shared encoding for all agents and the map without sacrificing accuracy or generalization. Towards this goal, we leverage pair-wise relative positional encodings to represent geometric relationships between the agents and the map elements in a heterogeneous spatial graph. This parameterization allows us to be invariant to scene viewpoint, and save online computation by re-using map embeddings computed offline. Our decoder is also viewpoint agnostic, predicting agent goals on the lane graph to enable diverse and context-aware multimodal prediction. We demonstrate the effectiveness of our approach on the urban Argoverse 2 benchmark as well as a novel highway dataset.

Haomiao Ni, Yuan Xue, Kelvin Wong et al.

Accurate infarct segmentation in non-contrast CT (NCCT) images is a crucial step toward computer-aided acute ischemic stroke (AIS) assessment. In clinical practice, bilateral symmetric comparison of brain hemispheres is usually used to locate pathological abnormalities. Recent research has explored asymmetries to assist with AIS segmentation. However, most previous symmetry-based work mixed different types of asymmetries when evaluating their contribution to AIS. In this paper, we propose a novel Asymmetry Disentanglement Network (ADN) to automatically separate pathological asymmetries and intrinsic anatomical asymmetries in NCCTs for more effective and interpretable AIS segmentation. ADN first performs asymmetry disentanglement based on input NCCTs, which produces different types of 3D asymmetry maps. Then a synthetic, intrinsic-asymmetry-compensated and pathology-asymmetry-salient NCCT volume is generated and later used as input to a segmentation network. The training of ADN incorporates domain knowledge and adopts a tissue-type aware regularization loss function to encourage clinically-meaningful pathological asymmetry extraction. Coupled with an unsupervised 3D transformation network, ADN achieves state-of-the-art AIS segmentation performance on a public NCCT dataset. In addition to the superior performance, we believe the learned clinically-interpretable asymmetry maps can also provide insights towards a better understanding of AIS assessment. Our code is available at https://github.com/nihaomiao/MICCAI22_ADN.

Yanglan Ou, Ye Yuan, Xiaolei Huang et al. · cmu

We present a new encoder-decoder Vision Transformer architecture, Patcher, for medical image segmentation. Unlike standard Vision Transformers, it employs Patcher blocks that segment an image into large patches, each of which is further divided into small patches. Transformers are applied to the small patches within a large patch, which constrains the receptive field of each pixel. We intentionally make the large patches overlap to enhance intra-patch communication. The encoder employs a cascade of Patcher blocks with increasing receptive fields to extract features from local to global levels. This design allows Patcher to benefit from both the coarse-to-fine feature extraction common in CNNs and the superior spatial relationship modeling of Transformers. We also propose a new mixture-of-experts (MoE) based decoder, which treats the feature maps from the encoder as experts and selects a suitable set of expert features to predict the label for each pixel. The use of MoE enables better specializations of the expert features and reduces interference between them during inference. Extensive experiments demonstrate that Patcher outperforms state-of-the-art Transformer- and CNN-based approaches significantly on stroke lesion segmentation and polyp segmentation. Code for Patcher is released with publication to facilitate future research.

Chris Zhang, James Tu, Lunjun Zhang et al.

Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from real-world observations collected offline, but without explicit specification of traffic rules, agents trained from IL alone frequently display unrealistic infractions like collisions and driving off the road. This problem is exacerbated in out-of-distribution and long-tail scenarios. On the other hand, reinforcement learning (RL) can train traffic agents to avoid infractions, but using RL alone results in unhuman-like driving behaviors. We propose Reinforcing Traffic Rules (RTR), a holistic closed-loop learning objective to match expert demonstrations under a traffic compliance constraint, which naturally gives rise to a joint IL + RL approach, obtaining the best of both worlds. Our method learns in closed-loop simulations of both nominal scenarios from real-world datasets as well as procedurally generated long-tail scenarios. Our experiments show that RTR learns more realistic and generalizable traffic simulation policies, achieving significantly better tradeoffs between human-like driving and traffic compliance in both nominal and long-tail scenarios. Moreover, when used as a data generation tool for training prediction models, our learned traffic policy leads to considerably improved downstream prediction metrics compared to baseline traffic agents. For more information, visit the project website: https://waabi.ai/rtr

Chao Liu, Boxi Chen, Wei Shao et al.

The advent of the Internet of Things (IoT) has brought forth an era of unprecedented connectivity, with an estimated 80 billion smart devices expected to be in operation by the end of 2025. These devices facilitate a multitude of smart applications, enhancing the quality of life and efficiency across various domains. Machine Learning (ML) serves as a crucial technology, not only for analyzing IoT-generated data but also for diverse applications within the IoT ecosystem. For instance, ML finds utility in IoT device recognition, anomaly detection, and even in uncovering malicious activities. This paper embarks on a comprehensive exploration of the security threats arising from ML's integration into various facets of IoT, spanning various attack types including membership inference, adversarial evasion, reconstruction, property inference, model extraction, and poisoning attacks. Unlike previous studies, our work offers a holistic perspective, categorizing threats based on criteria such as adversary models, attack targets, and key security attributes (confidentiality, availability, and integrity). We delve into the underlying techniques of ML attacks in IoT environment, providing a critical evaluation of their mechanisms and impacts. Furthermore, our research thoroughly assesses 65 libraries, both author-contributed and third-party, evaluating their role in safeguarding model and data privacy. We emphasize the availability and usability of these libraries, aiming to arm the community with the necessary tools to bolster their defenses against the evolving threat landscape. Through our comprehensive review and analysis, this paper seeks to contribute to the ongoing discourse on ML-based IoT security, offering valuable insights and practical solutions to secure ML models and data in the rapidly expanding field of artificial intelligence in IoT.

Tongan Cai, Haomiao Ni, Mingli Yu et al.

In an emergency room (ER) setting, stroke triage or screening is a common challenge. A quick CT is usually done instead of MRI due to MRI's slow throughput and high cost. Clinical tests are commonly referred to during the process, but the misdiagnosis rate remains high. We propose a novel multimodal deep learning framework, DeepStroke, to achieve computer-aided stroke presence assessment by recognizing patterns of minor facial muscles incoordination and speech inability for patients with suspicion of stroke in an acute setting. Our proposed DeepStroke takes one-minute facial video data and audio data readily available during stroke triage for local facial paralysis detection and global speech disorder analysis. Transfer learning was adopted to reduce face-attribute biases and improve generalizability. We leverage a multi-modal lateral fusion to combine the low- and high-level features and provide mutual regularization for joint training. Novel adversarial training is introduced to obtain identity-free and stroke-discriminative features. Experiments on our video-audio dataset with actual ER patients show that DeepStroke outperforms state-of-the-art models and achieves better performance than both a triage team and ER doctors, attaining a 10.94% higher sensitivity and maintaining 7.37% higher accuracy than traditional stroke triage when specificity is aligned. Meanwhile, each assessment can be completed in less than six minutes, demonstrating the framework's great potential for clinical translation.

Kelvin Wong, Qiang Zhang, Ming Liang et al.

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs of the self-driving vehicle's perception and prediction system, enabling realistic motion planning testing. Specifically, we use paired data in the form of ground truth labels and real perception and prediction outputs to train a model that predicts what the online system will produce. Importantly, the inputs to our system consists of high definition maps, bounding boxes, and trajectories, which can be easily sketched by a test engineer in a matter of minutes. This makes our approach a much more scalable solution. Quantitative results on two large-scale datasets demonstrate that we can realistically test motion planning using our simulations.