Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras

Accurate 3D scene reconstruction is essential for numerous medical tasks. Given the challenges in obtaining ground truth data, there has been an increasing focus on self-supervised learning (SSL) for endoscopic depth estimation as a basis for scene reconstruction. While foundation models have shown remarkable progress in visual tasks, their direct application to the medical domain often leads to suboptimal results. However, the visual features from these models can still enhance endoscopic tasks, emphasizing the need for efficient adaptation strategies, which still lack exploration currently. In this paper, we introduce Endo3DAC, a unified framework for endoscopic scene reconstruction that efficiently adapts foundation models. We design an integrated network capable of simultaneously estimating depth maps, relative poses, and camera intrinsic parameters. By freezing the backbone foundation model and training only the specially designed Gated Dynamic Vector-Based Low-Rank Adaptation (GDV-LoRA) with separate decoder heads, Endo3DAC achieves superior depth and pose estimation while maintaining training efficiency. Additionally, we propose a 3D scene reconstruction pipeline that optimizes depth maps' scales, shifts, and a few parameters based on our integrated network. Extensive experiments across four endoscopic datasets demonstrate that Endo3DAC significantly outperforms other state-of-the-art methods while requiring fewer trainable parameters. To our knowledge, we are the first to utilize a single network that only requires surgical videos to perform both SSL depth estimation and scene reconstruction tasks. The code will be released upon acceptance.

Prompt to Restore, Restore to Prompt: Cyclic Prompting for Universal Adverse Weather Removal

Universal adverse weather removal (UAWR) seeks to address various weather degradations within a unified framework. Recent methods are inspired by prompt learning using pre-trained vision-language models (e.g., CLIP), leveraging degradation-aware prompts to facilitate weather-free image restoration, yielding significant improvements. In this work, we propose CyclicPrompt, an innovative cyclic prompt approach designed to enhance the effectiveness, adaptability, and generalizability of UAWR. CyclicPrompt Comprises two key components: 1) a composite context prompt that integrates weather-related information and context-aware representations into the network to guide restoration. This prompt differs from previous methods by marrying learnable input-conditional vectors with weather-specific knowledge, thereby improving adaptability across various degradations. 2) The erase-and-paste mechanism, after the initial guided restoration, substitutes weather-specific knowledge with constrained restoration priors, inducing high-quality weather-free concepts into the composite prompt to further fine-tune the restoration process. Therefore, we can form a cyclic "Prompt-Restore-Prompt" pipeline that adeptly harnesses weather-specific knowledge, textual contexts, and reliable textures. Extensive experiments on synthetic and real-world datasets validate the superior performance of CyclicPrompt. The code is available at: https://github.com/RongxinL/CyclicPrompt.

Robotic CBCT Meets Robotic Ultrasound

The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity and mobility of current imaging devices hinder their integration into standardized workflows and the advancement toward fully autonomous intervention systems. In this paper, we present a novel clinical setup where robotic cone beam computed tomography (CBCT) and robotic US are pre-calibrated and dynamically co-registered, enabling new clinical applications. This setup allows registration-free rigid registration, facilitating multi-modal guided procedures in the absence of tissue deformation. First, a one-time pre-calibration is performed between the systems. To ensure a safe insertion path by highlighting critical vasculature on the 3D CBCT, SAM2 segments vessels from B-mode images, using the Doppler signal as an autonomously generated prompt. Based on the registration, the Doppler image or segmented vessel masks are then mapped onto the CBCT, creating an optimally fused image with comprehensive detail. To validate the system, we used a specially designed phantom, featuring lesions covered by ribs and multiple vessels with simulated moving flow. The mapping error between US and CBCT resulted in an average deviation of 1.72+-0.62 mm. A user study demonstrated the effectiveness of CBCT-US fusion for needle insertion guidance, showing significant improvements in time efficiency, accuracy, and success rate. Needle intervention performance improved by approximately 50% compared to the conventional US-guided workflow. We present the first robotic dual-modality imaging system designed to guide clinical applications. The results show significant performance improvements compared to traditional manual interventions.

Sign-IDD: Iconicity Disentangled Diffusion for Sign Language Production

Sign Language Production (SLP) aims to generate semantically consistent sign videos from textual statements, where the conversion from textual glosses to sign poses (G2P) is a crucial step. Existing G2P methods typically treat sign poses as discrete three-dimensional coordinates and directly fit them, which overlooks the relative positional relationships among joints. To this end, we provide a new perspective, constraining joint associations and gesture details by modeling the limb bones to improve the accuracy and naturalness of the generated poses. In this work, we propose a pioneering iconicity disentangled diffusion framework, termed Sign-IDD, specifically designed for SLP. Sign-IDD incorporates a novel Iconicity Disentanglement (ID) module to bridge the gap between relative positions among joints. The ID module disentangles the conventional 3D joint representation into a 4D bone representation, comprising the 3D spatial direction vector and 1D spatial distance vector between adjacent joints. Additionally, an Attribute Controllable Diffusion (ACD) module is introduced to further constrain joint associations, in which the attribute separation layer aims to separate the bone direction and length attributes, and the attribute control layer is designed to guide the pose generation by leveraging the above attributes. The ACD module utilizes the gloss embeddings as semantic conditions and finally generates sign poses from noise embeddings. Extensive experiments on PHOENIX14T and USTC-CSL datasets validate the effectiveness of our method. The code is available at: https://github.com/NaVi-start/Sign-IDD.

A Powered Prosthetic Hand with Vision System for Enhancing the Anthropopathic Grasp

The anthropomorphism of grasping process significantly benefits the experience and grasping efficiency of prosthetic hand wearers. Currently, prosthetic hands controlled by signals such as brain-computer interfaces (BCI) and electromyography (EMG) face difficulties in precisely recognizing the amputees' grasping gestures and executing anthropomorphic grasp processes. Although prosthetic hands equipped with vision systems enables the objects' feature recognition, they lack perception of human grasping intention. Therefore, this paper explores the estimation of grasping gestures solely through visual data to accomplish anthropopathic grasping control and the determination of grasping intention within a multi-object environment. To address this, we propose the Spatial Geometry-based Gesture Mapping (SG-GM) method, which constructs gesture functions based on the geometric features of the human hand grasping processes. It's subsequently implemented on the prosthetic hand. Furthermore, we propose the Motion Trajectory Regression-based Grasping Intent Estimation (MTR-GIE) algorithm. This algorithm predicts pre-grasping object utilizing regression prediction and prior spatial segmentation estimation derived from the prosthetic hand's position and trajectory. The experiments were conducted to grasp 8 common daily objects including cup, fork, etc. The experimental results presented a similarity coefficient $R^{2}$ of grasping process of 0.911, a Root Mean Squared Error ($RMSE$) of 2.47\degree, a success rate of grasping of 95.43$\%$, and an average duration of grasping process of 3.07$\pm$0.41 s. Furthermore, grasping experiments in a multi-object environment were conducted. The average accuracy of intent estimation reached 94.35$\%$. Our methodologies offer a groundbreaking approach to enhance the prosthetic hand's functionality and provides valuable insights for future research.

WavFusion: Towards wav2vec 2.0 Multimodal Speech Emotion Recognition

Speech emotion recognition (SER) remains a challenging yet crucial task due to the inherent complexity and diversity of human emotions. To address this problem, researchers attempt to fuse information from other modalities via multimodal learning. However, existing multimodal fusion techniques often overlook the intricacies of cross-modal interactions, resulting in suboptimal feature representations. In this paper, we propose WavFusion, a multimodal speech emotion recognition framework that addresses critical research problems in effective multimodal fusion, heterogeneity among modalities, and discriminative representation learning. By leveraging a gated cross-modal attention mechanism and multimodal homogeneous feature discrepancy learning, WavFusion demonstrates improved performance over existing state-of-the-art methods on benchmark datasets. Our work highlights the importance of capturing nuanced cross-modal interactions and learning discriminative representations for accurate multimodal SER. Experimental results on two benchmark datasets (IEMOCAP and MELD) demonstrate that WavFusion succeeds over the state-of-the-art strategies on emotion recognition.

DINO-X: A Unified Vision Model for Open-World Object Detection and Understanding

In this paper, we introduce DINO-X, which is a unified object-centric vision model developed by IDEA Research with the best open-world object detection performance to date. DINO-X employs the same Transformer-based encoder-decoder architecture as Grounding DINO 1.5 to pursue an object-level representation for open-world object understanding. To make long-tailed object detection easy, DINO-X extends its input options to support text prompt, visual prompt, and customized prompt. With such flexible prompt options, we develop a universal object prompt to support prompt-free open-world detection, making it possible to detect anything in an image without requiring users to provide any prompt. To enhance the model's core grounding capability, we have constructed a large-scale dataset with over 100 million high-quality grounding samples, referred to as Grounding-100M, for advancing the model's open-vocabulary detection performance. Pre-training on such a large-scale grounding dataset leads to a foundational object-level representation, which enables DINO-X to integrate multiple perception heads to simultaneously support multiple object perception and understanding tasks, including detection, segmentation, pose estimation, object captioning, object-based QA, etc. Experimental results demonstrate the superior performance of DINO-X. Specifically, the DINO-X Pro model achieves 56.0 AP, 59.8 AP, and 52.4 AP on the COCO, LVIS-minival, and LVIS-val zero-shot object detection benchmarks, respectively. Notably, it scores 63.3 AP and 56.5 AP on the rare classes of LVIS-minival and LVIS-val benchmarks, both improving the previous SOTA performance by 5.8 AP. Such a result underscores its significantly improved capacity for recognizing long-tailed objects.

ROSS:RObust decentralized Stochastic learning based on Shapley values

In the paradigm of decentralized learning, a group of agents collaborate to learn a global model using a distributed dataset without a central server; nevertheless, it is severely challenged by the heterogeneity of the data distribution across the agents. For example, the data may be distributed non-independently and identically, and even be noised or poisoned. To address these data challenges, we propose ROSS, a novel robust decentralized stochastic learning algorithm based on Shapley values, in this paper. Specifically, in each round, each agent aggregates the cross-gradient information from its neighbors, i.e., the derivatives of its local model with respect to the datasets of its neighbors, to update its local model in a momentum like manner, while we innovate in weighting the derivatives according to their contributions measured by Shapley values. We perform solid theoretical analysis to reveal the linear convergence speedup of our ROSS algorithm. We also verify the efficacy of our algorithm through extensive experiments on public datasets. Our results demonstrate that, in face of the above variety of data challenges, our ROSS algorithm have oblivious advantages over existing state-of-the-art proposals in terms of both convergence and prediction accuracy.

Long Term Memory: The Foundation of AI Self-Evolution

Large language models (LLMs) like GPTs, trained on vast datasets, have demonstrated impressive capabilities in language understanding, reasoning, and planning, achieving human-level performance in various tasks. Most studies focus on enhancing these models by training on ever-larger datasets to build more powerful foundation models. While training stronger models is important, enabling models to evolve during inference is equally crucial, a process we refer to as AI self-evolution. Unlike large-scale training, self-evolution may rely on limited data or interactions. Inspired by the columnar organization of the human cerebral cortex, we hypothesize that AI models could develop cognitive abilities and build internal representations through iterative interactions with their environment. To achieve this, models need long-term memory (LTM) to store and manage processed interaction data. LTM supports self-evolution by representing diverse experiences across environments and agents. In this report, we explore AI self-evolution and its potential to enhance models during inference. We examine LTM's role in lifelong learning, allowing models to evolve based on accumulated interactions. We outline the structure of LTM and the systems needed for effective data retention and representation. We also classify approaches for building personalized models with LTM data and show how these models achieve self-evolution through interaction. Using LTM, our multi-agent framework OMNE achieved first place on the GAIA benchmark, demonstrating LTM's potential for AI self-evolution. Finally, we present a roadmap for future research, emphasizing the importance of LTM for advancing AI technology and its practical applications.

PSVMA+: Exploring Multi-granularity Semantic-visual Adaption for Generalized Zero-shot Learning

Generalized zero-shot learning (GZSL) endeavors to identify the unseen categories using knowledge from the seen domain, necessitating the intrinsic interactions between the visual features and attribute semantic features. However, GZSL suffers from insufficient visual-semantic correspondences due to the attribute diversity and instance diversity. Attribute diversity refers to varying semantic granularity in attribute descriptions, ranging from low-level (specific, directly observable) to high-level (abstract, highly generic) characteristics. This diversity challenges the collection of adequate visual cues for attributes under a uni-granularity. Additionally, diverse visual instances corresponding to the same sharing attributes introduce semantic ambiguity, leading to vague visual patterns. To tackle these problems, we propose a multi-granularity progressive semantic-visual mutual adaption (PSVMA+) network, where sufficient visual elements across granularity levels can be gathered to remedy the granularity inconsistency. PSVMA+ explores semantic-visual interactions at different granularity levels, enabling awareness of multi-granularity in both visual and semantic elements. At each granularity level, the dual semantic-visual transformer module (DSVTM) recasts the sharing attributes into instance-centric attributes and aggregates the semantic-related visual regions, thereby learning unambiguous visual features to accommodate various instances. Given the diverse contributions of different granularities, PSVMA+ employs selective cross-granularity learning to leverage knowledge from reliable granularities and adaptively fuses multi-granularity features for comprehensive representations. Experimental results demonstrate that PSVMA+ consistently outperforms state-of-the-art methods.