arXiv subjects

Jun Ma

Publications and source records attributed to Jun Ma.

At least 235 records · Page 13Linked to original sources

arXiv2024

LMMCoDrive: Cooperative Driving with Large Multimodal Model

To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large Multimodal Model (LMM) to enhance traffic efficiency in dynamic urban environments. This framework seamlessly integrates scheduling and motion planning processes to ensure the effective operation of Cooperative Autonomous Vehicles (CAVs). The spatial relationship between CAVs and passenger requests is abstracted into a Bird's-Eye View (BEV) to fully exploit the potential of the LMM. Besides, trajectories are cautiously refined for each CAV while ensuring collision avoidance through safety constraints. A decentralized optimization strategy, facilitated by the Alternating Direction Method of Multipliers (ADMM) within the LMM framework, is proposed to drive the graph evolution of CAVs. Simulation results demonstrate the pivotal role and significant impact of LMM in optimizing CAV scheduling and enhancing decentralized cooperative optimization process for each vehicle. This marks a substantial stride towards achieving practical, efficient, and safe AMoD systems that are poised to revolutionize urban transportation. The code is available at https://github.com/henryhcliu/LMMCoDrive.

cs.RO↗

arXiv2024

Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming

In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by polynomial inequalities such that robots with general shapes can be suitably characterized. To address the robot navigation task in obstacle-dense environments, we exploit the free space directly to construct a sequence of free regions, and allocate each waypoint on the trajectory to a specific region. Then, we incorporate a uniform scaling factor for each free region, and formulate a Sums-of-Squares (SOS) optimization problem that renders the containment relationship between the robot and the free space computationally tractable. The SOS optimization problem is further reformulated to a semidefinite program (SDP), and the collision-free constraints are shown to be equivalent to limiting the scaling factor along the entire trajectory. In this context, the robot at a specific configuration is tailored to stay within the free region. Next, to solve the trajectory optimization problem with the proposed safety constraints (which are implicitly dependent on the robot configurations), we derive the analytical solution to the gradient of the minimum scaling factor with respect to the robot configuration. As a result, this seamlessly facilitates the use of gradient-based methods in efficient solving of the trajectory optimization problem. Through a series of simulations and real-world experiments, the proposed trajectory optimization approach is validated in various challenging scenarios, and the results demonstrate its effectiveness in generating collision-free trajectories in dense and intricate environments populated with obstacles. Our code is available at: https://github.com/lyl00/minimum_scaling_free_region

cs.RO↗

arXiv2024

Automatic Organ and Pan-cancer Segmentation in Abdomen CT: the FLARE 2023 Challenge

Organ and cancer segmentation in abdomen Computed Tomography (CT) scans is the prerequisite for precise cancer diagnosis and treatment. Most existing benchmarks and algorithms are tailored to specific cancer types, limiting their ability to provide comprehensive cancer analysis. This work presents the first international competition on abdominal organ and pan-cancer segmentation by providing a large-scale and diverse dataset, including 4650 CT scans with various cancer types from over 40 medical centers. The winning team established a new state-of-the-art with a deep learning-based cascaded framework, achieving average Dice Similarity Coefficient scores of 92.3% for organs and 64.9% for lesions on the hidden multi-national testing set. The dataset and code of top teams are publicly available, offering a benchmark platform to drive further innovations https://codalab.lisn.upsaclay.fr/competitions/12239.

eess.IV↗

arXiv2024

Timeline and Boundary Guided Diffusion Network for Video Shadow Detection

Video Shadow Detection (VSD) aims to detect the shadow masks with frame sequence. Existing works suffer from inefficient temporal learning. Moreover, few works address the VSD problem by considering the characteristic (i.e., boundary) of shadow. Motivated by this, we propose a Timeline and Boundary Guided Diffusion (TBGDiff) network for VSD where we take account of the past-future temporal guidance and boundary information jointly. In detail, we design a Dual Scale Aggregation (DSA) module for better temporal understanding by rethinking the affinity of the long-term and short-term frames for the clipped video. Next, we introduce Shadow Boundary Aware Attention (SBAA) to utilize the edge contexts for capturing the characteristics of shadows. Moreover, we are the first to introduce the Diffusion model for VSD in which we explore a Space-Time Encoded Embedding (STEE) to inject the temporal guidance for Diffusion to conduct shadow detection. Benefiting from these designs, our model can not only capture the temporal information but also the shadow property. Extensive experiments show that the performance of our approach overtakes the state-of-the-art methods, verifying the effectiveness of our components. We release the codes, weights, and results at \url{https://github.com/haipengzhou856/TBGDiff}.

cs.CV↗

arXiv2024

Integrated Intention Prediction and Decision-Making with Spectrum Attention Net and Proximal Policy Optimization

For autonomous driving in highly dynamic environments, it is anticipated to predict the future behaviors of surrounding vehicles (SVs) and make safe and effective decisions. However, modeling the inherent coupling effect between the prediction and decision-making modules has been a long-standing challenge, especially when there is a need to maintain appropriate computational efficiency. To tackle these problems, we propose a novel integrated intention prediction and decision-making approach, which explicitly models the coupling relationship and achieves efficient computation. Specifically, a spectrum attention net is designed to predict the intentions of SVs by capturing the trends of each frequency component over time and their interrelations. Fast computation of the intention prediction module is attained as the predicted intentions are not decoded to trajectories in the executing process. Furthermore, the proximal policy optimization (PPO) algorithm is employed to address the non-stationary problem in the framework through a modest policy update enabled by a clipping mechanism within its objective function. On the basis of these developments, the intention prediction and decision-making modules are integrated through joint learning. Experiments are conducted in representative traffic scenarios, and the results reveal that the proposed integrated framework demonstrates superior performance over several deep reinforcement learning (DRL) baselines in terms of success rate, efficiency, and safety in driving tasks.

cs.RO↗

arXiv2024

Segment Anything in Medical Images and Videos: Benchmark and Deployment

Recent advances in segmentation foundation models have enabled accurate and efficient segmentation across a wide range of natural images and videos, but their utility to medical data remains unclear. In this work, we first present a comprehensive benchmarking of the Segment Anything Model 2 (SAM2) across 11 medical image modalities and videos and point out its strengths and weaknesses by comparing it to SAM1 and MedSAM. Then, we develop a transfer learning pipeline and demonstrate SAM2 can be quickly adapted to medical domain by fine-tuning. Furthermore, we implement SAM2 as a 3D slicer plugin and Gradio API for efficient 3D image and video segmentation. The code has been made publicly available at \url{https://github.com/bowang-lab/MedSAM}.

eess.IV↗

arXiv2024

Stochastic Parrots or ICU Experts? Large Language Models in Critical Care Medicine: A Scoping Review

With the rapid development of artificial intelligence (AI), large language models (LLMs) have shown strong capabilities in natural language understanding, reasoning, and generation, attracting amounts of research interest in applying LLMs to health and medicine. Critical care medicine (CCM) provides diagnosis and treatment for critically ill patients who often require intensive monitoring and interventions in intensive care units (ICUs). Can LLMs be applied to CCM? Are LLMs just like stochastic parrots or ICU experts in assisting clinical decision-making? This scoping review aims to provide a panoramic portrait of the application of LLMs in CCM. Literature in seven databases, including PubMed, Embase, Scopus, Web of Science, CINAHL, IEEE Xplore, and ACM Digital Library, were searched from January 1, 2019, to June 10, 2024. Peer-reviewed journal and conference articles that discussed the application of LLMs in critical care settings were included. From an initial 619 articles, 24 were selected for final review. This review grouped applications of LLMs in CCM into three categories: clinical decision support, medical documentation and reporting, and medical education and doctor-patient communication. LLMs have advantages in handling unstructured data and do not require manual feature engineering. Meanwhile, applying LLMs to CCM faces challenges, including hallucinations, poor interpretability, bias and alignment challenges, and privacy and ethics issues. Future research should enhance model reliability and interpretability, integrate up-to-date medical knowledge, and strengthen privacy and ethical guidelines. As LLMs evolve, they could become key tools in CCM to help improve patient outcomes and optimize healthcare delivery. This study is the first review of LLMs in CCM, aiding researchers, clinicians, and policymakers to understand the current status and future potentials of LLMs in CCM.

cs.AI↗

arXiv2024

SCPNet: Unsupervised Cross-modal Homography Estimation via Intra-modal Self-supervised Learning

We propose a novel unsupervised cross-modal homography estimation framework based on intra-modal Self-supervised learning, Correlation, and consistent feature map Projection, namely SCPNet. The concept of intra-modal self-supervised learning is first presented to facilitate the unsupervised cross-modal homography estimation. The correlation-based homography estimation network and the consistent feature map projection are combined to form the learnable architecture of SCPNet, boosting the unsupervised learning framework. SCPNet is the first to achieve effective unsupervised homography estimation on the satellite-map image pair cross-modal dataset, GoogleMap, under [-32,+32] offset on a 128x128 image, leading the supervised approach MHN by 14.0% of mean average corner error (MACE). We further conduct extensive experiments on several cross-modal/spectral and manually-made inconsistent datasets, on which SCPNet achieves the state-of-the-art (SOTA) performance among unsupervised approaches, and owns 49.0%, 25.2%, 36.4%, and 10.7% lower MACEs than the supervised approach MHN. Source code is available at https://github.com/RM-Zhang/SCPNet.

cs.CV↗

arXiv2024

Compositions of the Hercules-Aquila Cloud and Virgo Over-density

Based on a sample of K giant from Large sky Area Multi-Object fiber Spectroscopic Telescope (LAMOST) Data Release 8 and a sample of RR Lyrae (RRL) from \textit{Gaia} Data Release 3, we investigate the compositions of the Hercules-Aquila Cloud (HAC) and Virgo Over-density (VOD) and their collective contribution to the tilt and triaxiality of the stellar halo ($r\,\textless\,40\,{\rm kpc}$) as well as two breaks at $\approx15\,{\rm kpc}$ and 30\,kpc. We apply the Gaussian mixture model (GMM) to divide the stellar halo into the isotropic component and the radially biased anisotropic component, namely Gaia-Sausage-Enceladus (GSE), and find that both HAC and VOD are dominated by the GSE debris stars with weights of $0.67^{+0.09}_{-0.07}$ and $0.57^{+0.07}_{-0.06}$, respectively. In addition, using the K giants with orbital parameters, we identify the member stars of known substructures, including GSE, Sagittarius (Sgr), Helmi Streams, Sequoia, Thamnos, Pontus, Wukong, and Metal-weak Thick Disk (MWTD), to probe the compositions of low-eccentricity stars in the HAC and VOD regions. In density fittings of the RRL sample, we note that the absence of HAC and VOD has a weak effect on the shape of halo. Finally, we find that the radially biased anisotropic halo contributes majorly to the stellar halo that can be modelled with a tilted triaxial ellipsoid and a doubly broken power law with breaking radii at $18.08^{+2.04}_{-3.22}\,{\rm kpc}$ and $33.03^{+1.30}_{-1.21}\,{\rm kpc}$. This has important significance for understanding the status of large diffuse over-densities in the Milky Way.

astro-ph.GA↗

arXiv2024

DIM: Dynamic Integration of Multimodal Entity Linking with Large Language Model

Our study delves into Multimodal Entity Linking, aligning the mention in multimodal information with entities in knowledge base. Existing methods are still facing challenges like ambiguous entity representations and limited image information utilization. Thus, we propose dynamic entity extraction using ChatGPT, which dynamically extracts entities and enhances datasets. We also propose a method: Dynamically Integrate Multimodal information with knowledge base (DIM), employing the capability of the Large Language Model (LLM) for visual understanding. The LLM, such as BLIP-2, extracts information relevant to entities in the image, which can facilitate improved extraction of entity features and linking them with the dynamic entity representations provided by ChatGPT. The experiments demonstrate that our proposed DIM method outperforms the majority of existing methods on the three original datasets, and achieves state-of-the-art (SOTA) on the dynamically enhanced datasets (Wiki+, Rich+, Diverse+). For reproducibility, our code and collected datasets are released on \url{https://github.com/season1blue/DIM}.

cs.CL↗

arXiv2024

QUBIQ: Uncertainty Quantification for Biomedical Image Segmentation Challenge

Uncertainty in medical image segmentation tasks, especially inter-rater variability, arising from differences in interpretations and annotations by various experts, presents a significant challenge in achieving consistent and reliable image segmentation. This variability not only reflects the inherent complexity and subjective nature of medical image interpretation but also directly impacts the development and evaluation of automated segmentation algorithms. Accurately modeling and quantifying this variability is essential for enhancing the robustness and clinical applicability of these algorithms. We report the set-up and summarize the benchmark results of the Quantification of Uncertainties in Biomedical Image Quantification Challenge (QUBIQ), which was organized in conjunction with International Conferences on Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2020 and 2021. The challenge focuses on the uncertainty quantification of medical image segmentation which considers the omnipresence of inter-rater variability in imaging datasets. The large collection of images with multi-rater annotations features various modalities such as MRI and CT; various organs such as the brain, prostate, kidney, and pancreas; and different image dimensions 2D-vs-3D. A total of 24 teams submitted different solutions to the problem, combining various baseline models, Bayesian neural networks, and ensemble model techniques. The obtained results indicate the importance of the ensemble models, as well as the need for further research to develop efficient 3D methods for uncertainty quantification methods in 3D segmentation tasks.

eess.IV↗

arXiv2024

PTA: Enhancing Multimodal Sentiment Analysis through Pipelined Prediction and Translation-based Alignment

Multimodal aspect-based sentiment analysis (MABSA) aims to understand opinions in a granular manner, advancing human-computer interaction and other fields. Traditionally, MABSA methods use a joint prediction approach to identify aspects and sentiments simultaneously. However, we argue that joint models are not always superior. Our analysis shows that joint models struggle to align relevant text tokens with image patches, leading to misalignment and ineffective image utilization. In contrast, a pipeline framework first identifies aspects through MATE (Multimodal Aspect Term Extraction) and then aligns these aspects with image patches for sentiment classification (MASC: Multimodal Aspect-Oriented Sentiment Classification). This method is better suited for multimodal scenarios where effective image use is crucial. We present three key observations: (a) MATE and MASC have different feature requirements, with MATE focusing on token-level features and MASC on sequence-level features; (b) the aspect identified by MATE is crucial for effective image utilization; and (c) images play a trivial role in previous MABSA methods due to high noise. Based on these observations, we propose a pipeline framework that first predicts the aspect and then uses translation-based alignment (TBA) to enhance multimodal semantic consistency for better image utilization. Our method achieves state-of-the-art (SOTA) performance on widely used MABSA datasets Twitter-15 and Twitter-17. This demonstrates the effectiveness of the pipeline approach and its potential to provide valuable insights for future MABSA research. For reproducibility, the code and checkpoint will be released.

cs.CL↗

arXiv2024

Empirical Likelihood Covariate Adjustment for Regression Discontinuity Designs

This paper proposes a versatile covariate adjustment method that directly incorporates covariate balance in regression discontinuity (RD) designs. The new empirical entropy balancing method reweights the standard local polynomial RD estimator by using the entropy balancing weights that minimize the Kullback--Leibler divergence from the uniform weights while satisfying the covariate balance constraints. Our estimator can be formulated as an empirical likelihood estimator that efficiently incorporates the information from the covariate balance condition as correctly specified over-identifying moment restrictions, and thus has an asymptotic variance no larger than that of the standard estimator without covariates. We demystify the asymptotic efficiency gain of Calonico, Cattaneo, Farrell, and Titiunik (2019)'s regression-based covariate-adjusted estimator, as their estimator has the same asymptotic variance as ours. Further efficiency improvement from balancing over sieve spaces is possible if our entropy balancing weights are computed using stronger covariate balance constraints that are imposed on functions of covariates. We then show that our method enjoys favorable second-order properties from empirical likelihood estimation and inference: the estimator has a small (bounded) nonlinearity bias, and the likelihood ratio based confidence set admits a simple analytical correction that can be used to improve coverage accuracy. The coverage accuracy of our confidence set is robust against slight perturbation to the covariate balance condition, which may happen in cases such as data contamination and misspecified "unaffected" outcomes used as covariates. The proposed entropy balancing approach for covariate adjustment is applicable to other RD-related settings.

econ.EM↗

arXiv2024

MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups

Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods designed for natural scenes typically yield low accuracy or map-building failures due to insufficient robust feature extraction in such settings. Visual markers, with their artificially designed features, can effectively address these issues. Nonetheless, existing marker-assisted SfM methods encounter problems like slow running speed and difficulties in convergence; and also, they are governed by the strong assumption of unique marker size. In this paper, we propose a novel SfM framework that utilizes planar markers and multiple cameras with known extrinsics to capture the surrounding environment and reconstruct the marker map. In our algorithm, the initial poses of markers and cameras are calculated with Perspective-n-Points (PnP) in the front-end, while bundle adjustment methods customized for markers and camera groups are designed in the back-end to optimize the 6-DOF pose directly. Our algorithm facilitates the reconstruction of large scenes with different marker sizes, and its accuracy and speed of map building are shown to surpass existing methods. Our approach is suitable for a wide range of scenarios, including laboratories, basements, warehouses, and other industrial settings. Furthermore, we incorporate representative scenarios into simulations and also supply our datasets with pose labels to address the scarcity of quantitative ground-truth datasets in this research field. The datasets and source code are available on GitHub.

cs.RO↗

arXiv2024

Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense Traffic

In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a computationally-efficient spatiotemporal receding horizon control (ST-RHC) scheme to generate a safe, dynamically feasible, energy-efficient trajectory in control space, where different driving tasks in dense traffic can be achieved with high accuracy and safety in real time. In particular, an embodied spatiotemporal safety barrier module considering proactive interactions is devised to mitigate the effects of inaccuracies resulting from the trajectory prediction of other vehicles. Subsequently, the motion planning and control problem is formulated as a constrained nonlinear optimization problem, which favorably facilitates the effective use of off-the-shelf optimization solvers in conjunction with multiple shooting. The effectiveness of the proposed ST-RHC scheme is demonstrated through comprehensive comparisons with state-of-the-art algorithms on synthetic and real-world traffic datasets under dense traffic, and the attendant outcome of superior performance in terms of accuracy, efficiency and safety is achieved.

cs.RO↗

arXiv2024

EVA-X: A Foundation Model for General Chest X-ray Analysis with Self-supervised Learning

The diagnosis and treatment of chest diseases play a crucial role in maintaining human health. X-ray examination has become the most common clinical examination means due to its efficiency and cost-effectiveness. Artificial intelligence analysis methods for chest X-ray images are limited by insufficient annotation data and varying levels of annotation, resulting in weak generalization ability and difficulty in clinical dissemination. Here we present EVA-X, an innovative foundational model based on X-ray images with broad applicability to various chest disease detection tasks. EVA-X is the first X-ray image based self-supervised learning method capable of capturing both semantic and geometric information from unlabeled images for universal X-ray image representation. Through extensive experimentation, EVA-X has demonstrated exceptional performance in chest disease analysis and localization, becoming the first model capable of spanning over 20 different chest diseases and achieving leading results in over 11 different detection tasks in the medical field. Additionally, EVA-X significantly reduces the burden of data annotation in the medical AI field, showcasing strong potential in the domain of few-shot learning. The emergence of EVA-X will greatly propel the development and application of foundational medical models, bringing about revolutionary changes in future medical research and clinical practice. Our codes and models are available at: https://github.com/hustvl/EVA-X.

cs.CV↗

arXiv2024

Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving

Recent years have seen a growing research interest in applications of Deep Neural Networks (DNN) on autonomous vehicle technology. The trend started with perception and prediction a few years ago and it is gradually being applied to motion planning tasks. Despite the performance of networks improve over time, DNN planners inherit the natural drawbacks of Deep Learning. Learning-based planners have limitations in achieving perfect accuracy on the training dataset and network performance can be affected by out-of-distribution problem. In this paper, we propose FusionAssurance, a novel trajectory-based end-to-end driving fusion framework which combines physics-informed control for safety assurance. By incorporating Potential Field into Model Predictive Control, FusionAssurance is capable of navigating through scenarios that are not included in the training dataset and scenarios where neural network fail to generalize. The effectiveness of the approach is demonstrated by extensive experiments under various scenarios on the CARLA benchmark.

cs.RO↗

arXiv2024

Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles

The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient coordination strategy for CAVs. In this paper, we formulate the cooperative autonomous driving problem of CAVs in the roundabout scenario as a constrained optimal control problem, and propose a computationally-efficient parallel optimization framework to generate strategies for CAVs such that the travel efficiency is improved with hard safety guarantees. All constraints involved in the roundabout scenario are addressed appropriately with convex approximation, such that the convexity property of the reformulated optimization problem is exhibited. Then, a parallel optimization algorithm is presented to solve the reformulated optimization problem, where an embodied iterative nearest neighbor search strategy to determine the optimal passing sequence in the roundabout scenario. It is noteworthy that the travel efficiency in the roundabout scenario is enhanced and the computation burden is considerably alleviated with the innovation development. We also examine the proposed method in CARLA simulator and perform thorough comparisons with a rule-based baseline and the commonly used IPOPT optimization solver to demonstrate the effectiveness and efficiency of the proposed approach.

cs.RO↗