Neural Signal Operated Intelligent Robot: Human-guided Robot Maze Navigation through SSVEP

Brain-computer Interface (BCI) applications based on steady-state visual evoked potentials (SSVEP) have the advantages of being fast, accurate and mobile. SSVEP is the EEG response evoked by visual stimuli that are presented at a specific frequency, which results in an increase in the EEG at that same frequency. In this paper, we proposed a novel human-guided maze solving robot navigation system based on SSVEP. By integrating human's intelligence which sees the entirety of the maze, maze solving time could be significantly reduced. Our methods involve training an offline SSVEP classification model, implementing the robot self-navigation algorithm, and finally deploy the model online for real-time robot operation. Our results demonstrated such system to be feasible, and it has the potential to impact the life of many elderly people by helping them carrying out simple daily tasks at home with just the look of their eyes.

Autoregressive Sequence Modeling for 3D Medical Image Representation

Three-dimensional (3D) medical images, such as Computed Tomography (CT) and Magnetic Resonance Imaging (MRI), are essential for clinical applications. However, the need for diverse and comprehensive representations is particularly pronounced when considering the variability across different organs, diagnostic tasks, and imaging modalities. How to effectively interpret the intricate contextual information and extract meaningful insights from these images remains an open challenge to the community. While current self-supervised learning methods have shown potential, they often consider an image as a whole thereby overlooking the extensive, complex relationships among local regions from one or multiple images. In this work, we introduce a pioneering method for learning 3D medical image representations through an autoregressive pre-training framework. Our approach sequences various 3D medical images based on spatial, contrast, and semantic correlations, treating them as interconnected visual tokens within a token sequence. By employing an autoregressive sequence modeling task, we predict the next visual token in the sequence, which allows our model to deeply understand and integrate the contextual information inherent in 3D medical images. Additionally, we implement a random startup strategy to avoid overestimating token relationships and to enhance the robustness of learning. The effectiveness of our approach is demonstrated by the superior performance over others on nine downstream tasks in public datasets.

Cross-Dimensional Medical Self-Supervised Representation Learning Based on a Pseudo-3D Transformation

Medical image analysis suffers from a shortage of data, whether annotated or not. This becomes even more pronounced when it comes to 3D medical images. Self-Supervised Learning (SSL) can partially ease this situation by using unlabeled data. However, most existing SSL methods can only make use of data in a single dimensionality (e.g. 2D or 3D), and are incapable of enlarging the training dataset by using data with differing dimensionalities jointly. In this paper, we propose a new cross-dimensional SSL framework based on a pseudo-3D transformation (CDSSL-P3D), that can leverage both 2D and 3D data for joint pre-training. Specifically, we introduce an image transformation based on the im2col algorithm, which converts 2D images into a format consistent with 3D data. This transformation enables seamless integration of 2D and 3D data, and facilitates cross-dimensional self-supervised learning for 3D medical image analysis. We run extensive experiments on 13 downstream tasks, including 2D and 3D classification and segmentation. The results indicate that our CDSSL-P3D achieves superior performance, outperforming other advanced SSL methods.

Act Like a Radiologist: Towards Reliable Multi-view Correspondence Reasoning for Mammogram Mass Detection

Mammogram mass detection is crucial for diagnosing and preventing the breast cancers in clinical practice. The complementary effect of multi-view mammogram images provides valuable information about the breast anatomical prior structure and is of great significance in digital mammography interpretation. However, unlike radiologists who can utilize the natural reasoning ability to identify masses based on multiple mammographic views, how to endow the existing object detection models with the capability of multi-view reasoning is vital for decision-making in clinical diagnosis but remains the boundary to explore. In this paper, we propose an Anatomy-aware Graph convolutional Network (AGN), which is tailored for mammogram mass detection and endows existing detection methods with multi-view reasoning ability. The proposed AGN consists of three steps. Firstly, we introduce a Bipartite Graph convolutional Network (BGN) to model the intrinsic geometric and semantic relations of ipsilateral views. Secondly, considering that the visual asymmetry of bilateral views is widely adopted in clinical practice to assist the diagnosis of breast lesions, we propose an Inception Graph convolutional Network (IGN) to model the structural similarities of bilateral views. Finally, based on the constructed graphs, the multi-view information is propagated through nodes methodically, which equips the features learned from the examined view with multi-view reasoning ability. Experiments on two standard benchmarks reveal that AGN significantly exceeds the state-of-the-art performance. Visualization results show that AGN provides interpretable visual cues for clinical diagnosis.

Object Instance Mining for Weakly Supervised Object Detection

Weakly supervised object detection (WSOD) using only image-level annotations has attracted growing attention over the past few years. Existing approaches using multiple instance learning easily fall into local optima, because such mechanism tends to learn from the most discriminative object in an image for each category. Therefore, these methods suffer from missing object instances which degrade the performance of WSOD. To address this problem, this paper introduces an end-to-end object instance mining (OIM) framework for weakly supervised object detection. OIM attempts to detect all possible object instances existing in each image by introducing information propagation on the spatial and appearance graphs, without any additional annotations. During the iterative learning process, the less discriminative object instances from the same class can be gradually detected and utilized for training. In addition, we design an object instance reweighted loss to learn larger portion of each object instance to further improve the performance. The experimental results on two publicly available databases, VOC 2007 and 2012, demonstrate the efficacy of proposed approach.