arXiv subjects

Ngan Le

Publications and source records attributed to Ngan Le.

At least 73 records · Page 4Linked to original sources

arXiv2024

Robotic-CLIP: Fine-tuning CLIP on Action Data for Robotic Applications

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.

cs.RO↗

arXiv2024

Language-driven Grasp Detection with Mask-guided Attention

Grasp detection is an essential task in robotics with various industrial applications. However, traditional methods often struggle with occlusions and do not utilize language for grasping. Incorporating natural language into grasp detection remains a challenging task and largely unexplored. To address this gap, we propose a new method for language-driven grasp detection with mask-guided attention by utilizing the transformer attention mechanism with semantic segmentation features. Our approach integrates visual data, segmentation mask features, and natural language instructions, significantly improving grasp detection accuracy. Our work introduces a new framework for language-driven grasp detection, paving the way for language-driven robotic applications. Intensive experiments show that our method outperforms other recent baselines by a clear margin, with a 10.0% success score improvement. We further validate our method in real-world robotic experiments, confirming the effectiveness of our approach.

cs.RO↗

arXiv2024

Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance

6-DoF grasp detection has been a fundamental and challenging problem in robotic vision. While previous works have focused on ensuring grasp stability, they often do not consider human intention conveyed through natural language, hindering effective collaboration between robots and users in complex 3D environments. In this paper, we present a new approach for language-driven 6-DoF grasp detection in cluttered point clouds. We first introduce Grasp-Anything-6D, a large-scale dataset for the language-driven 6-DoF grasp detection task with 1M point cloud scenes and more than 200M language-associated 3D grasp poses. We further introduce a novel diffusion model that incorporates a new negative prompt guidance learning strategy. The proposed negative prompt strategy directs the detection process toward the desired object while steering away from unwanted ones given the language input. Our method enables an end-to-end framework where humans can command the robot to grasp desired objects in a cluttered scene using natural language. Intensive experimental results show the effectiveness of our method in both benchmarking experiments and real-world scenarios, surpassing other baselines. In addition, we demonstrate the practicality of our approach in real-world robotic applications. Our project is available at https://airvlab.github.io/grasp-anything.

cs.RO↗

arXiv2024

Lightweight Language-driven Grasp Detection using Conditional Consistency Model

Language-driven grasp detection is a fundamental yet challenging task in robotics with various industrial applications. In this work, we present a new approach for language-driven grasp detection that leverages the concept of lightweight diffusion models to achieve fast inference time. By integrating diffusion processes with grasping prompts in natural language, our method can effectively encode visual and textual information, enabling more accurate and versatile grasp positioning that aligns well with the text query. To overcome the long inference time problem in diffusion models, we leverage the image and text features as the condition in the consistency model to reduce the number of denoising timesteps during inference. The intensive experimental results show that our method outperforms other recent grasp detection methods and lightweight diffusion models by a clear margin. We further validate our method in real-world robotic experiments to demonstrate its fast inference time capability.

cs.RO↗

arXiv2024

Enhancing Radiological Diagnosis: A Collaborative Approach Integrating AI and Human Expertise for Visual Miss Correction

Human-AI collaboration to identify and correct perceptual errors in chest radiographs has not been previously explored. This study aimed to develop a collaborative AI system, CoRaX, which integrates eye gaze data and radiology reports to enhance diagnostic accuracy in chest radiology by pinpointing perceptual errors and refining the decision-making process. Using public datasets REFLACX and EGD-CXR, the study retrospectively developed CoRaX, employing a large multimodal model to analyze image embeddings, eye gaze data, and radiology reports. The system's effectiveness was evaluated based on its referral-making process, the quality of referrals, and performance in collaborative diagnostic settings. CoRaX was tested on a simulated error dataset of 271 samples with 28% (93 of 332) missed abnormalities. The system corrected 21% (71 of 332) of these errors, leaving 7% (22 of 312) unresolved. The Referral-Usefulness score, indicating the accuracy of predicted regions for all true referrals, was 0.63 (95% CI 0.59, 0.68). The Total-Usefulness score, reflecting the diagnostic accuracy of CoRaX's interactions with radiologists, showed that 84% (237 of 280) of these interactions had a score above 0.40. In conclusion, CoRaX efficiently collaborates with radiologists to address perceptual errors across various abnormalities, with potential applications in the education and training of novice radiologists.

eess.IV↗

arXiv2024

Multimodal Learning and Cognitive Processes in Radiology: MedGaze for Chest X-ray Scanpath Prediction

Predicting human gaze behavior within computer vision is integral for developing interactive systems that can anticipate user attention, address fundamental questions in cognitive science, and hold implications for fields like human-computer interaction (HCI) and augmented/virtual reality (AR/VR) systems. Despite methodologies introduced for modeling human eye gaze behavior, applying these models to medical imaging for scanpath prediction remains unexplored. Our proposed system aims to predict eye gaze sequences from radiology reports and CXR images, potentially streamlining data collection and enhancing AI systems using larger datasets. However, predicting human scanpaths on medical images presents unique challenges due to the diverse nature of abnormal regions. Our model predicts fixation coordinates and durations critical for medical scanpath prediction, outperforming existing models in the computer vision community. Utilizing a two-stage training process and large publicly available datasets, our approach generates static heatmaps and eye gaze videos aligned with radiology reports, facilitating comprehensive analysis. We validate our approach by comparing its performance with state-of-the-art methods and assessing its generalizability among different radiologists, introducing novel strategies to model radiologists' search patterns during CXR image diagnosis. Based on the radiologist's evaluation, MedGaze can generate human-like gaze sequences with a high focus on relevant regions over the CXR images. It sometimes also outperforms humans in terms of redundancy and randomness in the scanpaths.

eess.IV↗

arXiv2024

CattleFace-RGBT: RGB-T Cattle Facial Landmark Benchmark

To address this challenge, we introduce CattleFace-RGBT, a RGB-T Cattle Facial Landmark dataset consisting of 2,300 RGB-T image pairs, a total of 4,600 images. Creating a landmark dataset is time-consuming, but AI-assisted annotation can help. However, applying AI to thermal images is challenging due to suboptimal results from direct thermal training and infeasible RGB-thermal alignment due to different camera views. Therefore, we opt to transfer models trained on RGB to thermal images and refine them using our AI-assisted annotation tool following a semi-automatic annotation approach. Accurately localizing facial key points on both RGB and thermal images enables us to not only discern the cattle's respiratory signs but also measure temperatures to assess the animal's thermal state. To the best of our knowledge, this is the first dataset for the cattle facial landmark on RGB-T images. We conduct benchmarking of the CattleFace-RGBT dataset across various backbone architectures, with the objective of establishing baselines for future research, analysis, and comparison. The dataset and models are at https://github.com/UARK-AICV/CattleFace-RGBT-benchmark

cs.CV↗

arXiv2024

PGDS: Pose-Guidance Deep Supervision for Mitigating Clothes-Changing in Person Re-Identification

Person Re-Identification (Re-ID) task seeks to enhance the tracking of multiple individuals by surveillance cameras. It supports multimodal tasks, including text-based person retrieval and human matching. One of the most significant challenges faced in Re-ID is clothes-changing, where the same person may appear in different outfits. While previous methods have made notable progress in maintaining clothing data consistency and handling clothing change data, they still rely excessively on clothing information, which can limit performance due to the dynamic nature of human appearances. To mitigate this challenge, we propose the Pose-Guidance Deep Supervision (PGDS), an effective framework for learning pose guidance within the Re-ID task. It consists of three modules: a human encoder, a pose encoder, and a Pose-to-Human Projection module (PHP). Our framework guides the human encoder, i.e., the main re-identification model, with pose information from the pose encoder through multiple layers via the knowledge transfer mechanism from the PHP module, helping the human encoder learn body parts information without increasing computation resources in the inference stage. Through extensive experiments, our method surpasses the performance of current state-of-the-art methods, demonstrating its robustness and effectiveness for real-world applications. Our code is available at https://github.com/huyquoctrinh/PGDS.

cs.CV↗

arXiv2024

ShapeFormer: Shape Prior Visible-to-Amodal Transformer-based Amodal Instance Segmentation

Amodal Instance Segmentation (AIS) presents a challenging task as it involves predicting both visible and occluded parts of objects within images. Existing AIS methods rely on a bidirectional approach, encompassing both the transition from amodal features to visible features (amodal-to-visible) and from visible features to amodal features (visible-to-amodal). Our observation shows that the utilization of amodal features through the amodal-to-visible can confuse the visible features due to the extra information of occluded/hidden segments not presented in visible display. Consequently, this compromised quality of visible features during the subsequent visible-to-amodal transition. To tackle this issue, we introduce ShapeFormer, a decoupled Transformer-based model with a visible-to-amodal transition. It facilitates the explicit relationship between output segmentations and avoids the need for amodal-to-visible transitions. ShapeFormer comprises three key modules: (i) Visible-Occluding Mask Head for predicting visible segmentation with occlusion awareness, (ii) Shape-Prior Amodal Mask Head for predicting amodal and occluded masks, and (iii) Category-Specific Shape Prior Retriever aims to provide shape prior knowledge. Comprehensive experiments and extensive ablation studies across various AIS benchmarks demonstrate the effectiveness of our ShapeFormer. The code is available at: \url{https://github.com/UARK-AICV/ShapeFormer}

cs.CV↗

arXiv2024

CarcassFormer: An End-to-end Transformer-based Framework for Simultaneous Localization, Segmentation and Classification of Poultry Carcass Defect

In the food industry, assessing the quality of poultry carcasses during processing is a crucial step. This study proposes an effective approach for automating the assessment of carcass quality without requiring skilled labor or inspector involvement. The proposed system is based on machine learning (ML) and computer vision (CV) techniques, enabling automated defect detection and carcass quality assessment. To this end, an end-to-end framework called CarcassFormer is introduced. It is built upon a Transformer-based architecture designed to effectively extract visual representations while simultaneously detecting, segmenting, and classifying poultry carcass defects. Our proposed framework is capable of analyzing imperfections resulting from production and transport welfare issues, as well as processing plant stunner, scalder, picker, and other equipment malfunctions. To benchmark the framework, a dataset of 7,321 images was initially acquired, which contained both single and multiple carcasses per image. In this study, the performance of the CarcassFormer system is compared with other state-of-the-art (SOTA) approaches for both classification, detection, and segmentation tasks. Through extensive quantitative experiments, our framework consistently outperforms existing methods, demonstrating remarkable improvements across various evaluation metrics such as AP, AP@50, and AP@75. Furthermore, the qualitative results highlight the strengths of CarcassFormer in capturing fine details, including feathers, and accurately localizing and segmenting carcasses with high precision. To facilitate further research and collaboration, the pre-trained model and source code of CarcassFormer is available for research purposes at: \url{https://github.com/UARK-AICV/CarcassFormer}.

cs.CV↗

arXiv2024

Unifying Global and Local Scene Entities Modelling for Precise Action Spotting

Sports videos pose complex challenges, including cluttered backgrounds, camera angle changes, small action-representing objects, and imbalanced action class distribution. Existing methods for detecting actions in sports videos heavily rely on global features, utilizing a backbone network as a black box that encompasses the entire spatial frame. However, these approaches tend to overlook the nuances of the scene and struggle with detecting actions that occupy a small portion of the frame. In particular, they face difficulties when dealing with action classes involving small objects, such as balls or yellow/red cards in soccer, which only occupy a fraction of the screen space. To address these challenges, we introduce a novel approach that analyzes and models scene entities using an adaptive attention mechanism. Particularly, our model disentangles the scene content into the global environment feature and local relevant scene entities feature. To efficiently extract environmental features while considering temporal information with less computational cost, we propose the use of a 2D backbone network with a time-shift mechanism. To accurately capture relevant scene entities, we employ a Vision-Language model in conjunction with the adaptive attention mechanism. Our model has demonstrated outstanding performance, securing the 1st place in the SoccerNet-v2 Action Spotting, FineDiving, and FineGym challenge with a substantial performance improvement of 1.6, 2.0, and 1.3 points in avg-mAP compared to the runner-up methods. Furthermore, our approach offers interpretability capabilities in contrast to other deep learning models, which are often designed as black boxes. Our code and models are released at: https://github.com/Fsoft-AIC/unifying-global-local-feature.

cs.CV↗

arXiv2024

BubbleID: A Deep Learning Framework for Bubble Interface Dynamics Analysis

This paper presents BubbleID, a sophisticated deep learning architecture designed to comprehensively identify both static and dynamic attributes of bubbles within sequences of boiling images. By amalgamating segmentation powered by Mask R-CNN with SORT-based tracking techniques, the framework is capable of analyzing each bubble's location, dimensions, interface shape, and velocity over its lifetime, and capturing dynamic events such as bubble departure. BubbleID is trained and tested on boiling images across diverse heater surfaces and operational settings. This paper also offers a comparative analysis of bubble interface dynamics prior to and post-critical heat flux (CHF) conditions.

eess.IV↗

arXiv2024

AISFormer: Amodal Instance Segmentation with Transformer

Amodal Instance Segmentation (AIS) aims to segment the region of both visible and possible occluded parts of an object instance. While Mask R-CNN-based AIS approaches have shown promising results, they are unable to model high-level features coherence due to the limited receptive field. The most recent transformer-based models show impressive performance on vision tasks, even better than Convolution Neural Networks (CNN). In this work, we present AISFormer, an AIS framework, with a Transformer-based mask head. AISFormer explicitly models the complex coherence between occluder, visible, amodal, and invisible masks within an object's regions of interest by treating them as learnable queries. Specifically, AISFormer contains four modules: (i) feature encoding: extract ROI and learn both short-range and long-range visual features. (ii) mask transformer decoding: generate the occluder, visible, and amodal mask query embeddings by a transformer decoder (iii) invisible mask embedding: model the coherence between the amodal and visible masks, and (iv) mask predicting: estimate output masks including occluder, visible, amodal and invisible. We conduct extensive experiments and ablation studies on three challenging benchmarks i.e. KINS, D2SA, and COCOA-cls to evaluate the effectiveness of AISFormer. The code is available at: https://github.com/UARK-AICV/AISFormer

cs.CV↗

arXiv2024

SAM3D: Segment Anything Model in Volumetric Medical Images

Image segmentation remains a pivotal component in medical image analysis, aiding in the extraction of critical information for precise diagnostic practices. With the advent of deep learning, automated image segmentation methods have risen to prominence, showcasing exceptional proficiency in processing medical imagery. Motivated by the Segment Anything Model (SAM)-a foundational model renowned for its remarkable precision and robust generalization capabilities in segmenting 2D natural images-we introduce SAM3D, an innovative adaptation tailored for 3D volumetric medical image analysis. Unlike current SAM-based methods that segment volumetric data by converting the volume into separate 2D slices for individual analysis, our SAM3D model processes the entire 3D volume image in a unified approach. Extensive experiments are conducted on multiple medical image datasets to demonstrate that our network attains competitive results compared with other state-of-the-art methods in 3D medical segmentation tasks while being significantly efficient in terms of parameters. Code and checkpoints are available at https://github.com/UARK-AICV/SAM3D.

eess.IV↗

arXiv2024

TSRNet: Simple Framework for Real-time ECG Anomaly Detection with Multimodal Time and Spectrogram Restoration Network

The electrocardiogram (ECG) is a valuable signal used to assess various aspects of heart health, such as heart rate and rhythm. It plays a crucial role in identifying cardiac conditions and detecting anomalies in ECG data. However, distinguishing between normal and abnormal ECG signals can be a challenging task. In this paper, we propose an approach that leverages anomaly detection to identify unhealthy conditions using solely normal ECG data for training. Furthermore, to enhance the information available and build a robust system, we suggest considering both the time series and time-frequency domain aspects of the ECG signal. As a result, we introduce a specialized network called the Multimodal Time and Spectrogram Restoration Network (TSRNet) designed specifically for detecting anomalies in ECG signals. TSRNet falls into the category of restoration-based anomaly detection and draws inspiration from both the time series and spectrogram domains. By extracting representations from both domains, TSRNet effectively captures the comprehensive characteristics of the ECG signal. This approach enables the network to learn robust representations with superior discrimination abilities, allowing it to distinguish between normal and abnormal ECG patterns more effectively. Furthermore, we introduce a novel inference method, termed Peak-based Error, that specifically focuses on ECG peaks, a critical component in detecting abnormalities. The experimental result on the large-scale dataset PTB-XL has demonstrated the effectiveness of our approach in ECG anomaly detection, while also prioritizing efficiency by minimizing the number of trainable parameters. Our code is available at https://github.com/UARK-AICV/TSRNet.

eess.SP↗

arXiv2024

Point-Unet: A Context-aware Point-based Neural Network for Volumetric Segmentation

Medical image analysis using deep learning has recently been prevalent, showing great performance for various downstream tasks including medical image segmentation and its sibling, volumetric image segmentation. Particularly, a typical volumetric segmentation network strongly relies on a voxel grid representation which treats volumetric data as a stack of individual voxel `slices', which allows learning to segment a voxel grid to be as straightforward as extending existing image-based segmentation networks to the 3D domain. However, using a voxel grid representation requires a large memory footprint, expensive test-time and limiting the scalability of the solutions. In this paper, we propose Point-Unet, a novel method that incorporates the efficiency of deep learning with 3D point clouds into volumetric segmentation. Our key idea is to first predict the regions of interest in the volume by learning an attentional probability map, which is then used for sampling the volume into a sparse point cloud that is subsequently segmented using a point-based neural network. We have conducted the experiments on the medical volumetric segmentation task with both a small-scale dataset Pancreas and large-scale datasets BraTS18, BraTS19, and BraTS20 challenges. A comprehensive benchmark on different metrics has shown that our context-aware Point-Unet robustly outperforms the SOTA voxel-based networks at both accuracies, memory usage during training, and time consumption during testing. Our code is available at https://github.com/VinAIResearch/Point-Unet.

cs.CV↗

arXiv2024

WAVER: Writing-style Agnostic Text-Video Retrieval via Distilling Vision-Language Models Through Open-Vocabulary Knowledge

Text-video retrieval, a prominent sub-field within the domain of multimodal information retrieval, has witnessed remarkable growth in recent years. However, existing methods assume video scenes are consistent with unbiased descriptions. These limitations fail to align with real-world scenarios since descriptions can be influenced by annotator biases, diverse writing styles, and varying textual perspectives. To overcome the aforementioned problems, we introduce $\texttt{WAVER}$, a cross-domain knowledge distillation framework via vision-language models through open-vocabulary knowledge designed to tackle the challenge of handling different writing styles in video descriptions. $\texttt{WAVER}$ capitalizes on the open-vocabulary properties that lie in pre-trained vision-language models and employs an implicit knowledge distillation approach to transfer text-based knowledge from a teacher model to a vision-based student. Empirical studies conducted across four standard benchmark datasets, encompassing various settings, provide compelling evidence that $\texttt{WAVER}$ can achieve state-of-the-art performance in text-video retrieval task while handling writing-style variations. The code is available at: https://github.com/Fsoft-AIC/WAVER

cs.CV↗

arXiv2023

I-AI: A Controllable & Interpretable AI System for Decoding Radiologists' Intense Focus for Accurate CXR Diagnoses

In the field of chest X-ray (CXR) diagnosis, existing works often focus solely on determining where a radiologist looks, typically through tasks such as detection, segmentation, or classification. However, these approaches are often designed as black-box models, lacking interpretability. In this paper, we introduce Interpretable Artificial Intelligence (I-AI) a novel and unified controllable interpretable pipeline for decoding the intense focus of radiologists in CXR diagnosis. Our I-AI addresses three key questions: where a radiologist looks, how long they focus on specific areas, and what findings they diagnose. By capturing the intensity of the radiologist's gaze, we provide a unified solution that offers insights into the cognitive process underlying radiological interpretation. Unlike current methods that rely on black-box machine learning models, which can be prone to extracting erroneous information from the entire input image during the diagnosis process, we tackle this issue by effectively masking out irrelevant information. Our proposed I-AI leverages a vision-language model, allowing for precise control over the interpretation process while ensuring the exclusion of irrelevant features. To train our I-AI model, we utilize an eye gaze dataset to extract anatomical gaze information and generate ground truth heatmaps. Through extensive experimentation, we demonstrate the efficacy of our method. We showcase that the attention heatmaps, designed to mimic radiologists' focus, encode sufficient and relevant information, enabling accurate classification tasks using only a portion of CXR. The code, checkpoints, and data are at https://github.com/UARK-AICV/IAI

cs.CV↗