Optimizing Drug Delivery in Smart Pharmacies: A Novel Framework of Multi-Stage Grasping Network Combined with Adaptive Robotics Mechanism

Robots-based smart pharmacies are essential for modern healthcare systems, enabling efficient drug delivery. However, a critical challenge exists in the robotic handling of drugs with varying shapes and overlapping positions, which previous studies have not adequately addressed. To enhance the robotic arm's ability to grasp chaotic, overlapping, and variously shaped drugs, this paper proposed a novel framework combining a multi-stage grasping network with an adaptive robotics mechanism. The framework first preprocessed images using an improved Super-Resolution Convolutional Neural Network (SRCNN) algorithm, and then employed the proposed YOLOv5+E-A-SPPFCSPC+BIFPNC (YOLO-EASB) instance segmentation algorithm for precise drug segmentation. The most suitable drugs for grasping can be determined by assessing the completeness of the segmentation masks. Then, these segmented drugs were processed by our improved Adaptive Feature Fusion and Grasp-Aware Network (IAFFGA-Net) with the optimized loss function, which ensures accurate picking actions even in complex environments. To control the robot grasping, a time-optimal robotic arm trajectory planning algorithm that combines an improved ant colony algorithm with 3-5-3 interpolation was developed, further improving efficiency while ensuring smooth trajectories. Finally, this system was implemented and validated within an adaptive collaborative robot setup, which dynamically adjusts to different production environments and task requirements. Experimental results demonstrate the superiority of our multi-stage grasping network in optimizing smart pharmacy operations, while also showcasing its remarkable adaptability and effectiveness in practical applications.

Prompt Packer: Deceiving LLMs through Compositional Instruction with Hidden Attacks

Recently, Large language models (LLMs) with powerful general capabilities have been increasingly integrated into various Web applications, while undergoing alignment training to ensure that the generated content aligns with user intent and ethics. Unfortunately, they remain the risk of generating harmful content like hate speech and criminal activities in practical applications. Current approaches primarily rely on detecting, collecting, and training against harmful prompts to prevent such risks. However, they typically focused on the "superficial" harmful prompts with a solitary intent, ignoring composite attack instructions with multiple intentions that can easily elicit harmful content in real-world scenarios. In this paper, we introduce an innovative technique for obfuscating harmful instructions: Compositional Instruction Attacks (CIA), which refers to attacking by combination and encapsulation of multiple instructions. CIA hides harmful prompts within instructions of harmless intentions, making it impossible for the model to identify underlying malicious intentions. Furthermore, we implement two transformation methods, known as T-CIA and W-CIA, to automatically disguise harmful instructions as talking or writing tasks, making them appear harmless to LLMs. We evaluated CIA on GPT-4, ChatGPT, and ChatGLM2 with two safety assessment datasets and two harmful prompt datasets. It achieves an attack success rate of 95%+ on safety assessment datasets, and 83%+ for GPT-4, 91%+ for ChatGPT (gpt-3.5-turbo backed) and ChatGLM2-6B on harmful prompt datasets. Our approach reveals the vulnerability of LLMs to such compositional instruction attacks that harbor underlying harmful intentions, contributing significantly to LLM security development. Warning: this paper may contain offensive or upsetting content!

ADU-Depth: Attention-based Distillation with Uncertainty Modeling for Depth Estimation

Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to extract features with limited spatial geometric cues from a single RGB image, we intend to introduce spatial cues by training a teacher network that leverages left-right image pairs as inputs and transferring the learned 3D geometry-aware knowledge to the monocular student network. Specifically, we present a novel knowledge distillation framework, named ADU-Depth, with the goal of leveraging the well-trained teacher network to guide the learning of the student network, thus boosting the precise depth estimation with the help of extra spatial scene information. To enable domain adaptation and ensure effective and smooth knowledge transfer from teacher to student, we apply both attention-adapted feature distillation and focal-depth-adapted response distillation in the training stage. In addition, we explicitly model the uncertainty of depth estimation to guide distillation in both feature space and result space to better produce 3D-aware knowledge from monocular observations and thus enhance the learning for hard-to-predict image regions. Our extensive experiments on the real depth estimation datasets KITTI and DrivingStereo demonstrate the effectiveness of the proposed method, which ranked 1st on the challenging KITTI online benchmark.

PPD: A New Valet Parking Pedestrian Fisheye Dataset for Autonomous Driving

Pedestrian detection under valet parking scenarios is fundamental for autonomous driving. However, the presence of pedestrians can be manifested in a variety of ways and postures under imperfect ambient conditions, which can adversely affect detection performance. Furthermore, models trained on publicdatasets that include pedestrians generally provide suboptimal outcomes for these valet parking scenarios. In this paper, wepresent the Parking Pedestrian Dataset (PPD), a large-scale fisheye dataset to support research dealing with real-world pedestrians, especially with occlusions and diverse postures. PPD consists of several distinctive types of pedestrians captured with fisheye cameras. Additionally, we present a pedestrian detection baseline on PPD dataset, and introduce two data augmentation techniques to improve the baseline by enhancing the diversity ofthe original dataset. Extensive experiments validate the effectiveness of our novel data augmentation approaches over baselinesand the dataset's exceptional generalizability.

LineMarkNet: Line Landmark Detection for Valet Parking

We aim for accurate and efficient line landmark detection for valet parking, which is a long-standing yet unsolved problem in autonomous driving. To this end, we present a deep line landmark detection system where we carefully design the modules to be lightweight. Specifically, we first empirically design four general line landmarks including three physical lines and one novel mental line. The four line landmarks are effective for valet parking. We then develop a deep network (LineMarkNet) to detect line landmarks from surround-view cameras where we, via the pre-calibrated homography, fuse context from four separate cameras into the unified bird-eye-view (BEV) space, specifically we fuse the surroundview features and BEV features, then employ the multi-task decoder to detect multiple line landmarks where we apply the center-based strategy for object detection task, and design our graph transformer to enhance the vision transformer with hierarchical level graph reasoning for semantic segmentation task. At last, we further parameterize the detected line landmarks (e.g., intercept-slope form) whereby a novel filtering backend incorporates temporal and multi-view consistency to achieve smooth and stable detection. Moreover, we annotate a large-scale dataset to validate our method. Experimental results show that our framework achieves the enhanced performance compared with several line detection methods and validate the multi-task network's efficiency about the real-time line landmark detection on the Qualcomm 820A platform while meantime keeps superior accuracy, with our deep line landmark detection system.

I$^2$-SDF: Intrinsic Indoor Scene Reconstruction and Editing via Raytracing in Neural SDFs

In this work, we present I$^2$-SDF, a new method for intrinsic indoor scene reconstruction and editing using differentiable Monte Carlo raytracing on neural signed distance fields (SDFs). Our holistic neural SDF-based framework jointly recovers the underlying shapes, incident radiance and materials from multi-view images. We introduce a novel bubble loss for fine-grained small objects and error-guided adaptive sampling scheme to largely improve the reconstruction quality on large-scale indoor scenes. Further, we propose to decompose the neural radiance field into spatially-varying material of the scene as a neural field through surface-based, differentiable Monte Carlo raytracing and emitter semantic segmentations, which enables physically based and photorealistic scene relighting and editing applications. Through a number of qualitative and quantitative experiments, we demonstrate the superior quality of our method on indoor scene reconstruction, novel view synthesis, and scene editing compared to state-of-the-art baselines.

Deep Joint Source-Channel Coding for Wireless Image Transmission with Semantic Importance

The sixth-generation mobile communication system proposes the vision of smart interconnection of everything, which requires accomplishing communication tasks while ensuring the performance of intelligent tasks. A joint source-channel coding method based on semantic importance is proposed, which aims at preserving semantic information during wireless image transmission and thereby boosting the performance of intelligent tasks for images at the receiver. Specifically, we first propose semantic importance weight calculation method, which is based on the gradient of intelligent task's perception results with respect to the features. Then, we design the semantic loss function in the way of using semantic weights to weight the features. Finally, we train the deep joint source-channel coding network using the semantic loss function. Experiment results demonstrate that the proposed method achieves up to 57.7% and 9.1% improvement in terms of intelligent task's performance compared with the source-channel separation coding method and the deep sourcechannel joint coding method without considering semantics at the same compression rate and signal-to-noise ratio, respectively.

Learning-based Inverse Rendering of Complex Indoor Scenes with Differentiable Monte Carlo Raytracing

Indoor scenes typically exhibit complex, spatially-varying appearance from global illumination, making inverse rendering a challenging ill-posed problem. This work presents an end-to-end, learning-based inverse rendering framework incorporating differentiable Monte Carlo raytracing with importance sampling. The framework takes a single image as input to jointly recover the underlying geometry, spatially-varying lighting, and photorealistic materials. Specifically, we introduce a physically-based differentiable rendering layer with screen-space ray tracing, resulting in more realistic specular reflections that match the input photo. In addition, we create a large-scale, photorealistic indoor scene dataset with significantly richer details like complex furniture and dedicated decorations. Further, we design a novel out-of-view lighting network with uncertainty-aware refinement leveraging hypernetwork-based neural radiance fields to predict lighting outside the view of the input photo. Through extensive evaluations on common benchmark datasets, we demonstrate superior inverse rendering quality of our method compared to state-of-the-art baselines, enabling various applications such as complex object insertion and material editing with high fidelity. Code and data will be made available at \url{https://jingsenzhu.github.io/invrend}.

Deep Joint Source-Channel Coding Based on Semantics of Pixels

The semantic information of the image for intelligent tasks is hidden behind the pixels, and slight changes in the pixels will affect the performance of intelligent tasks. In order to preserve semantic information behind pixels for intelligent tasks during wireless image transmission, we propose a joint source-channel coding method based on semantics of pixels, which can improve the performance of intelligent tasks for images at the receiver by retaining semantic information. Specifically, we first utilize gradients of intelligent task's perception results with respect to pixels to represent the semantic importance of pixels. Then, we extract the semantic distortion, and train the deep joint source-channel coding network with the goal of minimizing semantic distortion rather than pixel's distortion. Experiment results demonstrate that the proposed method improves the performance of the intelligent classification task by 1.38% and 66% compared with the SOTA deep joint source-channel coding method and the traditional separately source-channel coding method at the same transmission ra te and signal-to-noise ratio.

ClueGraphSum: Let Key Clues Guide the Cross-Lingual Abstractive Summarization

Cross-Lingual Summarization (CLS) is the task to generate a summary in one language for an article in a different language. Previous studies on CLS mainly take pipeline methods or train the end-to-end model using the translated parallel data. However, the quality of generated cross-lingual summaries needs more further efforts to improve, and the model performance has never been evaluated on the hand-written CLS dataset. Therefore, we first propose a clue-guided cross-lingual abstractive summarization method to improve the quality of cross-lingual summaries, and then construct a novel hand-written CLS dataset for evaluation. Specifically, we extract keywords, named entities, etc. of the input article as key clues for summarization and then design a clue-guided algorithm to transform an article into a graph with less noisy sentences. One Graph encoder is built to learn sentence semantics and article structures and one Clue encoder is built to encode and translate key clues, ensuring the information of important parts are reserved in the generated summary. These two encoders are connected by one decoder to directly learn cross-lingual semantics. Experimental results show that our method has stronger robustness for longer inputs and substantially improves the performance over the strong baseline, achieving an improvement of 8.55 ROUGE-1 (English-to-Chinese summarization) and 2.13 MoverScore (Chinese-to-English summarization) scores over the existing SOTA.