Mohit Sharma

h-index32
2papers
3,851citations

2 Papers

3.9CVJan 26, 2023
Evaluate underdiagnosis and overdiagnosis bias of deep learning model on primary open-angle glaucoma diagnosis in under-served patient populations

Mingquan Lin, Yuyun Xiao, Bojian Hou et al.

In the United States, primary open-angle glaucoma (POAG) is the leading cause of blindness, especially among African American and Hispanic individuals. Deep learning has been widely used to detect POAG using fundus images as its performance is comparable to or even surpasses diagnosis by clinicians. However, human bias in clinical diagnosis may be reflected and amplified in the widely-used deep learning models, thus impacting their performance. Biases may cause (1) underdiagnosis, increasing the risks of delayed or inadequate treatment, and (2) overdiagnosis, which may increase individuals' stress, fear, well-being, and unnecessary/costly treatment. In this study, we examined the underdiagnosis and overdiagnosis when applying deep learning in POAG detection based on the Ocular Hypertension Treatment Study (OHTS) from 22 centers across 16 states in the United States. Our results show that the widely-used deep learning model can underdiagnose or overdiagnose underserved populations. The most underdiagnosed group is female younger (< 60 yrs) group, and the most overdiagnosed group is Black older (>=60 yrs) group. Biased diagnosis through traditional deep learning methods may delay disease detection, treatment and create burdens among under-served populations, thereby, raising ethical concerns about using deep learning models in ophthalmology clinics.

20.9RONov 4, 2020
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy

Kevin Zhang, Mohit Sharma, Jacky Liang et al.

We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into combinations of trajectory generators, feedback controllers, and termination handlers. Low-level control is implemented in C++ and runs at $1$kHz, and high-level commands are exposed in Python. In addition, external sensor feedback, like estimated object poses, can be streamed to the low-level controllers in real time. This modular approach allows us to quickly prototype new control methods, which is essential for research applications. We have applied this framework across a variety of real-world robot tasks in more than $5$ published research papers. The framework is currently shared internally with other robotics labs at Carnegie Mellon University, and we plan for a public release in the near future.