Anticipate & Collab: Data-driven Task Anticipation and Knowledge-driven Planning for Human-robot Collaboration

An agent assisting humans in daily living activities can collaborate more effectively by anticipating upcoming tasks. Data-driven methods represent the state of the art in task anticipation, planning, and related problems, but these methods are resource-hungry and opaque. Our prior work introduced a proof of concept framework that used an LLM to anticipate 3 high-level tasks that served as goals for a classical planning system that computed a sequence of low-level actions for the agent to achieve these goals. This paper describes DaTAPlan, our framework that significantly extends our prior work toward human-robot collaboration. Specifically, DaTAPlan planner computes actions for an agent and a human to collaboratively and jointly achieve the tasks anticipated by the LLM, and the agent automatically adapts to unexpected changes in human action outcomes and preferences. We evaluate DaTAPlan capabilities in a realistic simulation environment, demonstrating accurate task anticipation, effective human-robot collaboration, and the ability to adapt to unexpected changes. Project website: https://dataplan-hrc.github.io

Latent Diffusion Models with Image-Derived Annotations for Enhanced AI-Assisted Cancer Diagnosis in Histopathology

Artificial Intelligence (AI) based image analysis has an immense potential to support diagnostic histopathology, including cancer diagnostics. However, developing supervised AI methods requires large-scale annotated datasets. A potentially powerful solution is to augment training data with synthetic data. Latent diffusion models, which can generate high-quality, diverse synthetic images, are promising. However, the most common implementations rely on detailed textual descriptions, which are not generally available in this domain. This work proposes a method that constructs structured textual prompts from automatically extracted image features. We experiment with the PCam dataset, composed of tissue patches only loosely annotated as healthy or cancerous. We show that including image-derived features in the prompt, as opposed to only healthy and cancerous labels, improves the Fr\'echet Inception Distance (FID) from 178.8 to 90.2. We also show that pathologists find it challenging to detect synthetic images, with a median sensitivity/specificity of 0.55/0.55. Finally, we show that synthetic data effectively trains AI models.

Metal Oxide-based Gas Sensor Array for the VOCs Analysis in Complex Mixtures using Machine Learning

Detection of Volatile Organic Compounds (VOCs) from the breath is becoming a viable route for the early detection of diseases non-invasively. This paper presents a sensor array with three metal oxide electrodes that can use machine learning methods to identify four distinct VOCs in a mixture. The metal oxide sensor array was subjected to various VOC concentrations, including ethanol, acetone, toluene and chloroform. The dataset obtained from individual gases and their mixtures were analyzed using multiple machine learning algorithms, such as Random Forest (RF), K-Nearest Neighbor (KNN), Decision Tree, Linear Regression, Logistic Regression, Naive Bayes, Linear Discriminant Analysis, Artificial Neural Network, and Support Vector Machine. KNN and RF have shown more than 99% accuracy in classifying different varying chemicals in the gas mixtures. In regression analysis, KNN has delivered the best results with R2 value of more than 0.99 and LOD of 0.012, 0.015, 0.014 and 0.025 PPM for predicting the concentrations of varying chemicals Acetone, Toluene, Ethanol, and Chloroform, respectively in complex mixtures. Therefore, it is demonstrated that the array utilizing the provided algorithms can classify and predict the concentrations of the four gases simultaneously for disease diagnosis and treatment monitoring.

Segmentation of Microscopy Data for finding Nuclei in Divergent Images

Every year millions of people die due to disease of Cancer. Due to its invasive nature it is very complex to cure even in primary stages. Hence, only method to survive this disease completely is via forecasting by analyzing the early mutation in cells of the patient biopsy. Cell Segmentation can be used to find cell which have left their nuclei. This enables faster cure and high rate of survival. Cell counting is a hard, yet tedious task that would greatly benefit from automation. To accomplish this task, segmentation of cells need to be accurate. In this paper, we have improved the learning of training data by our network. It can annotate precise masks on test data. we examine the strength of activation functions in medical image segmentation task by improving learning rates by our proposed Carving Technique. Identifying the cells nuclei is the starting point for most analyses, identifying nuclei allows researchers to identify each individual cell in a sample, and by measuring how cells react to various treatments, the researcher can understand the underlying biological processes at work. Experimental results shows the efficiency of the proposed work.