Nghia T. Nguyen

Nghia Nguyen, Minh Nhat Vu, Tung D. Ta et al.

Vision language models have played a key role in extracting meaningful features for various robotic applications. Among these, Contrastive Language-Image Pretraining (CLIP) is widely used in robotic tasks that require both vision and natural language understanding. However, CLIP was trained solely on static images paired with text prompts and has not yet been fully adapted for robotic tasks involving dynamic actions. In this paper, we introduce Robotic-CLIP to enhance robotic perception capabilities. We first gather and label large-scale action data, and then build our Robotic-CLIP by fine-tuning CLIP on 309,433 videos (~7.4 million frames) of action data using contrastive learning. By leveraging action data, Robotic-CLIP inherits CLIP's strong image performance while gaining the ability to understand actions in robotic contexts. Intensive experiments show that our Robotic-CLIP outperforms other CLIP-based models across various language-driven robotic tasks. Additionally, we demonstrate the practical effectiveness of Robotic-CLIP in real-world grasping applications.

Ngoc Huy Nguyen, Ha Quy Nguyen, Nghia Trung Nguyen et al.

Computer-Aided Diagnosis (CAD) systems for chest radiographs using artificial intelligence (AI) have recently shown a great potential as a second opinion for radiologists. The performances of such systems, however, were mostly evaluated on a fixed dataset in a retrospective manner and, thus, far from the real performances in clinical practice. In this work, we demonstrate a mechanism for validating an AI-based system for detecting abnormalities on X-ray scans, VinDr-CXR, at the Phu Tho General Hospital - a provincial hospital in the North of Vietnam. The AI system was directly integrated into the Picture Archiving and Communication System (PACS) of the hospital after being trained on a fixed annotated dataset from other sources. The performance of the system was prospectively measured by matching and comparing the AI results with the radiology reports of 6,285 chest X-ray examinations extracted from the Hospital Information System (HIS) over the last two months of 2020. The normal/abnormal status of a radiology report was determined by a set of rules and served as the ground truth. Our system achieves an F1 score - the harmonic average of the recall and the precision - of 0.653 (95% CI 0.635, 0.671) for detecting any abnormalities on chest X-rays. Despite a significant drop from the in-lab performance, this result establishes a high level of confidence in applying such a system in real-life situations.