Haseeb Hassan

Chengmin Zhou, Chao Wang, Haseeb Hassan et al.

Bayesian inference has many advantages in robotic motion planning over four perspectives: The uncertainty quantification of the policy, safety (risk-aware) and optimum guarantees of robot motions, data-efficiency in training of reinforcement learning, and reducing the sim2real gap when the robot is applied to real-world tasks. However, the application of Bayesian inference in robotic motion planning is lagging behind the comprehensive theory of Bayesian inference. Further, there are no comprehensive reviews to summarize the progress of Bayesian inference to give researchers a systematic understanding in robotic motion planning. This paper first provides the probabilistic theories of Bayesian inference which are the preliminary of Bayesian inference for complex cases. Second, the Bayesian estimation is given to estimate the posterior of policies or unknown functions which are used to compute the policy. Third, the classical model-based Bayesian RL and model-free Bayesian RL algorithms for robotic motion planning are summarized, while these algorithms in complex cases are also analyzed. Fourth, the analysis of Bayesian inference in inverse RL is given to infer the reward functions in a data-efficient manner. Fifth, we systematically present the hybridization of Bayesian inference and RL which is a promising direction to improve the convergence of RL for better motion planning. Sixth, given the Bayesian inference, we present the interpretable and safe robotic motion plannings which are the hot research topic recently. Finally, all algorithms reviewed in this paper are summarized analytically as the knowledge graphs, and the future of Bayesian inference for robotic motion planning is also discussed, to pave the way for data-efficient, explainable, and safe robotic motion planning strategies for practical applications.

Yongzhi Huang, Hanwen Zhang, Yan Yan et al.

Large curated datasets are necessary, but annotating medical images is a time-consuming, laborious, and expensive process. Therefore, recent supervised methods are focusing on utilizing a large amount of unlabeled data. However, to do so, is a challenging task. To address this problem, we propose a new 3D Cross-Pseudo Supervision (3D-CPS) method, a semi-supervised network architecture based on nnU-Net with the Cross-Pseudo Supervision method. We design a new nnU-Net based preprocessing. In addition, we set the semi-supervised loss weights to expand linearity with each epoch to prevent the model from low-quality pseudo-labels in the early training process. Our proposed method achieves an average dice similarity coefficient (DSC) of 0.881 and an average normalized surface distance (NSD) of 0.913 on the MICCAI FLARE2022 validation set (20 cases).

Rashid Khan, Bingding Huang, Haseeb Hassan et al.

Image captioning is a challenging task involving generating a textual description for an image using computer vision and natural language processing techniques. This paper proposes a deep neural framework for image caption generation using a GRU-based attention mechanism. Our approach employs multiple pre-trained convolutional neural networks as the encoder to extract features from the image and a GRU-based language model as the decoder to generate descriptive sentences. To improve performance, we integrate the Bahdanau attention model with the GRU decoder to enable learning to focus on specific image parts. We evaluate our approach using the MSCOCO and Flickr30k datasets and show that it achieves competitive scores compared to state-of-the-art methods. Our proposed framework can bridge the gap between computer vision and natural language and can be extended to specific domains.

Anbo Cao, Pin-Yu Le, Zhonghui Qie et al.

Dynamic susceptibility contrast magnetic resonance imaging (DSC-MRI) is widely used to evaluate acute ischemic stroke to distinguish salvageable tissue and infarct core. For this purpose, traditional methods employ deconvolution techniques, like singular value decomposition, which are known to be vulnerable to noise, potentially distorting the derived perfusion parameters. However, deep learning technology could leverage it, which can accurately estimate clinical perfusion parameters compared to traditional clinical approaches. Therefore, this study presents a perfusion parameters estimation network that considers spatial and temporal information, the Spatiotemporal Network (ST-Net), for the first time. The proposed network comprises a designed physical loss function to enhance model performance further. The results indicate that the network can accurately estimate perfusion parameters, including cerebral blood volume (CBV), cerebral blood flow (CBF), and time to maximum of the residual function (Tmax). The structural similarity index (SSIM) mean values for CBV, CBF, and Tmax parameters were 0.952, 0.943, and 0.863, respectively. The DICE score for the hypo-perfused region reached 0.859, demonstrating high consistency. The proposed model also maintains time efficiency, closely approaching the performance of commercial gold-standard software.

Yongzhi Huang, Fengjun Xi, Liyun Tu et al.

Accurate segmentation of multiple organs in Computed Tomography (CT) images plays a vital role in computer-aided diagnosis systems. While various supervised learning approaches have been proposed recently, these methods heavily depend on a large amount of high-quality labeled data, which are expensive to obtain in practice. To address this challenge, we propose a label-efficient framework using knowledge transfer from a pre-trained diffusion model for CT multi-organ segmentation. Specifically, we first pre-train a denoising diffusion model on 207,029 unlabeled 2D CT slices to capture anatomical patterns. Then, the model backbone is transferred to the downstream multi-organ segmentation task, followed by fine-tuning with few labeled data. In fine-tuning, two fine-tuning strategies, linear classification and fine-tuning decoder, are employed to enhance segmentation performance while preserving learned representations. Quantitative results show that the pre-trained diffusion model is capable of generating diverse and realistic 256x256 CT images (Fréchet inception distance (FID): 11.32, spatial Fréchet inception distance (sFID): 46.93, F1-score: 73.1%). Compared to state-of-the-art methods for multi-organ segmentation, our method achieves competitive performance on the FLARE 2022 dataset, particularly in limited labeled data scenarios. After fine-tuning with 1% and 10% labeled data, our method achieves dice similarity coefficients (DSCs) of 71.56% and 78.51%, respectively. Remarkably, the method achieves a DSC score of 51.81% using only four labeled CT slices. These results demonstrate the efficacy of our approach in overcoming the limitations of supervised learning approaches that is highly dependent on large-scale labeled data.