Learning Robust Grasping Strategy Through Tactile Sensing and Adaption Skill

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily relying on rule-based approaches, frequently neglecting post-grasping difficulties such as external disruptions or inherent uncertainties of the object's physics and geometry. To address these limitations, this paper introduces an human-demonstration-based adaptive grasping policy base on tactile, which aims to achieve robust gripping while resisting disturbances to maintain grasp stability. Our trained model generalizes to daily objects with seven different sizes, shapes, and textures. Experimental results demonstrate that our method performs well in dynamic and force interaction tasks and exhibits excellent generalization ability.

Multimodal Instruction Tuning with Hybrid State Space Models

Handling lengthy context is crucial for enhancing the recognition and understanding capabilities of multimodal large language models (MLLMs) in applications such as processing high-resolution images or high frame rate videos. The rise in image resolution and frame rate substantially increases computational demands due to the increased number of input tokens. This challenge is further exacerbated by the quadratic complexity with respect to sequence length of the self-attention mechanism. Most prior works either pre-train models with long contexts, overlooking the efficiency problem, or attempt to reduce the context length via downsampling (e.g., identify the key image patches or frames) to decrease the context length, which may result in information loss. To circumvent this issue while keeping the remarkable effectiveness of MLLMs, we propose a novel approach using a hybrid transformer-MAMBA model to efficiently handle long contexts in multimodal applications. Our multimodal model can effectively process long context input exceeding 100k tokens, outperforming existing models across various benchmarks. Remarkably, our model enhances inference efficiency for high-resolution images and high-frame-rate videos by about 4 times compared to current models, with efficiency gains increasing as image resolution or video frames rise. Furthermore, our model is the first to be trained on low-resolution images or low-frame-rate videos while being capable of inference on high-resolution images and high-frame-rate videos, offering flexibility for inference in diverse scenarios.

Reducing Hallucinations in Vision-Language Models via Latent Space Steering

Hallucination poses a challenge to the deployment of large vision-language models (LVLMs) in applications. Unlike in large language models (LLMs), hallucination in LVLMs often arises from misalignments between visual inputs and textual outputs. This paper investigates the underlying mechanisms of hallucination, focusing on the unique structure of LVLMs that distinguishes them from large language models (LLMs). We identify that hallucinations often arise from the sensitivity of text decoders to vision inputs, a natural phenomenon when image encoders and text decoders are pre-trained separately. Inspired by this, we introduce Visual and Textual Intervention (VTI), a novel technique designed to reduce hallucinations by steering latent space representations during inference to enhance the stability of vision features. As a task-agnostic test-time intervention, VTI can be easily applied to any problem without additional cost. Extensive experiments demonstrate that it can effectively reduce hallucinations and outperform baseline methods across multiple metrics, highlighting the critical role of vision feature stability in LVLMs.

Similarity-Dissimilarity Loss with Supervised Contrastive Learning for Multi-label Classification

Supervised contrastive learning has been explored in making use of label information for multi-label classification, but determining positive samples in multi-label scenario remains challenging. Previous studies have examined strategies for identifying positive samples, considering label overlap proportion between anchors and samples. However, they ignore various relations between given anchors and samples, as well as how to dynamically adjust the weights in contrastive loss functions based on different relations, leading to great ambiguity. In this paper, we introduce five distinct relations between multi-label samples and propose a Similarity-Dissimilarity Loss with contrastive learning for multi-label classification. Our loss function re-weights the loss by computing the similarity and dissimilarity between positive samples and a given anchor based on the introduced relations. We mainly conduct experiments for multi-label text classification on MIMIC datasets, then further extend the evaluation on MS-COCO. The Experimental results show that our proposed loss effectively improves the performance on all encoders under supervised contrastive learning paradigm, demonstrating its effectiveness and robustness.

TFG: Unified Training-Free Guidance for Diffusion Models

Given an unconditional diffusion model and a predictor for a target property of interest (e.g., a classifier), the goal of training-free guidance is to generate samples with desirable target properties without additional training. Existing methods, though effective in various individual applications, often lack theoretical grounding and rigorous testing on extensive benchmarks. As a result, they could even fail on simple tasks, and applying them to a new problem becomes unavoidably difficult. This paper introduces a novel algorithmic framework encompassing existing methods as special cases, unifying the study of training-free guidance into the analysis of an algorithm-agnostic design space. Via theoretical and empirical investigation, we propose an efficient and effective hyper-parameter searching strategy that can be readily applied to any downstream task. We systematically benchmark across 7 diffusion models on 16 tasks with 40 targets, and improve performance by 8.5% on average. Our framework and benchmark offer a solid foundation for conditional generation in a training-free manner.

MedTrinity-25M: A Large-scale Multimodal Dataset with Multigranular Annotations for Medicine

This paper introduces MedTrinity-25M, a comprehensive, large-scale multimodal dataset for medicine, covering over 25 million images across 10 modalities, with multigranular annotations for more than 65 diseases. These enriched annotations encompass both global textual information, such as disease/lesion type, modality, region-specific descriptions, and inter-regional relationships, as well as detailed local annotations for regions of interest (ROIs), including bounding boxes, segmentation masks. Unlike existing approach which is limited by the availability of image-text pairs, we have developed the first automated pipeline that scales up multimodal data by generating multigranular visual and texual annotations (in the form of image-ROI-description triplets) without the need for any paired text descriptions. Specifically, data from over 90 different sources have been collected, preprocessed, and grounded using domain-specific expert models to identify ROIs related to abnormal regions. We then build a comprehensive knowledge base and prompt multimodal large language models to perform retrieval-augmented generation with the identified ROIs as guidance, resulting in multigranular texual descriptions. Compared to existing datasets, MedTrinity-25M provides the most enriched annotations, supporting a comprehensive range of multimodal tasks such as captioning and report generation, as well as vision-centric tasks like classification and segmentation. Pretraining on MedTrinity-25M, our model achieves state-of-the-art performance on VQA-RAD and PathVQA, surpassing both multimodal large language models and other representative SoTA approaches. This dataset can also be utilized to support large-scale pre-training of multimodal medical AI models, contributing to the development of future foundation models in the medical domain.

Automated radiotherapy treatment planning guided by GPT-4Vision

Radiotherapy treatment planning is a time-consuming and potentially subjective process that requires the iterative adjustment of model parameters to balance multiple conflicting objectives. Recent advancements in large foundation models offer promising avenues for addressing the challenges in planning and clinical decision-making. This study introduces GPT-RadPlan, a fully automated treatment planning framework that harnesses prior radiation oncology knowledge encoded in multi-modal large language models, such as GPT-4Vision (GPT-4V) from OpenAI. GPT-RadPlan is made aware of planning protocols as context and acts as an expert human planner, capable of guiding a treatment planning process. Via in-context learning, we incorporate clinical protocols for various disease sites as prompts to enable GPT-4V to acquire treatment planning domain knowledge. The resulting GPT-RadPlan agent is integrated into our in-house inverse treatment planning system through an API. The efficacy of the automated planning system is showcased using multiple prostate and head & neck cancer cases, where we compared GPT-RadPlan results to clinical plans. In all cases, GPT-RadPlan either outperformed or matched the clinical plans, demonstrating superior target coverage and organ-at-risk sparing. Consistently satisfying the dosimetric objectives in the clinical protocol, GPT-RadPlan represents the first multimodal large language model agent that mimics the behaviors of human planners in radiation oncology clinics, achieving remarkable results in automating the treatment planning process without the need for additional training.

TextGrad: Automatic "Differentiation" via Text

AI is undergoing a paradigm shift, with breakthroughs achieved by systems orchestrating multiple large language models (LLMs) and other complex components. As a result, developing principled and automated optimization methods for compound AI systems is one of the most important new challenges. Neural networks faced a similar challenge in its early days until backpropagation and automatic differentiation transformed the field by making optimization turn-key. Inspired by this, we introduce TextGrad, a powerful framework performing automatic ``differentiation'' via text. TextGrad backpropagates textual feedback provided by LLMs to improve individual components of a compound AI system. In our framework, LLMs provide rich, general, natural language suggestions to optimize variables in computation graphs, ranging from code snippets to molecular structures. TextGrad follows PyTorch's syntax and abstraction and is flexible and easy-to-use. It works out-of-the-box for a variety of tasks, where the users only provide the objective function without tuning components or prompts of the framework. We showcase TextGrad's effectiveness and generality across a diverse range of applications, from question answering and molecule optimization to radiotherapy treatment planning. Without modifying the framework, TextGrad improves the zero-shot accuracy of GPT-4o in Google-Proof Question Answering from $51\%$ to $55\%$, yields $20\%$ relative performance gain in optimizing LeetCode-Hard coding problem solutions, improves prompts for reasoning, designs new druglike small molecules with desirable in silico binding, and designs radiation oncology treatment plans with high specificity. TextGrad lays a foundation to accelerate the development of the next-generation of AI systems.

GNSS Measurement-Based Context Recognition for Vehicle Navigation using Gated Recurrent Unit

Recent years, people have put forward higher and higher requirements for context-adaptive navigation (CAN). CAN system realizes seamless navigation in complex environments by recognizing the ambient surroundings of vehicles, and it is crucial to develop a fast, reliable, and robust navigational context recognition (NCR) method to enable CAN systems to operate effectively. Environmental context recognition based on Global Navigation Satellite System (GNSS) measurements has attracted widespread attention due to its low cost because it does not require additional infrastructure. The performance and application value of NCR methods depend on three main factors: context categorization, feature extraction, and classification models. In this paper, a fine-grained context categorization framework comprising seven environment categories (open sky, tree-lined avenue, semi-outdoor, urban canyon, viaduct-down, shallow indoor, and deep indoor) is proposed, which currently represents the most elaborate context categorization framework known in this research domain. To improve discrimination between categories, a new feature called the C/N0-weighted azimuth distribution factor, is designed. Then, to ensure real-time performance, a lightweight gated recurrent unit (GRU) network is adopted for its excellent sequence data processing capabilities. A dataset containing 59,996 samples is created and made publicly available to researchers in the NCR community on Github. Extensive experiments have been conducted on the dataset, and the results show that the proposed method achieves an overall recognition accuracy of 99.41\% for isolated scenarios and 94.95\% for transition scenarios, with an average transition delay of 2.14 seconds.

Mapping the Increasing Use of LLMs in Scientific Papers

Scientific publishing lays the foundation of science by disseminating research findings, fostering collaboration, encouraging reproducibility, and ensuring that scientific knowledge is accessible, verifiable, and built upon over time. Recently, there has been immense speculation about how many people are using large language models (LLMs) like ChatGPT in their academic writing, and to what extent this tool might have an effect on global scientific practices. However, we lack a precise measure of the proportion of academic writing substantially modified or produced by LLMs. To address this gap, we conduct the first systematic, large-scale analysis across 950,965 papers published between January 2020 and February 2024 on the arXiv, bioRxiv, and Nature portfolio journals, using a population-level statistical framework to measure the prevalence of LLM-modified content over time. Our statistical estimation operates on the corpus level and is more robust than inference on individual instances. Our findings reveal a steady increase in LLM usage, with the largest and fastest growth observed in Computer Science papers (up to 17.5%). In comparison, Mathematics papers and the Nature portfolio showed the least LLM modification (up to 6.3%). Moreover, at an aggregate level, our analysis reveals that higher levels of LLM-modification are associated with papers whose first authors post preprints more frequently, papers in more crowded research areas, and papers of shorter lengths. Our findings suggests that LLMs are being broadly used in scientific writings.