Multi-UAV Behavior-based Formation with Static and Dynamic Obstacles Avoidance via Reinforcement Learning

Formation control of multiple Unmanned Aerial Vehicles (UAVs) is vital for practical applications. This paper tackles the task of behavior-based UAV formation while avoiding static and dynamic obstacles during directed flight. We present a two-stage reinforcement learning (RL) training pipeline to tackle the challenge of multi-objective optimization, large exploration spaces, and the sim-to-real gap. The first stage searches in a simplified scenario for a linear utility function that balances all task objectives simultaneously, whereas the second stage applies the utility function in complex scenarios, utilizing curriculum learning to navigate large exploration spaces. Additionally, we apply an attention-based observation encoder to enhance formation maintenance and manage varying obstacle quantity. Experiments in simulation and real world demonstrate that our method outperforms planning-based and RL-based baselines regarding collision-free rate and formation maintenance in scenarios with static, dynamic, and mixed obstacles.

Multi-UAV Pursuit-Evasion with Online Planning in Unknown Environments by Deep Reinforcement Learning

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based approaches remain constrained to simplified simulations with limited dynamics or fixed scenarios. Previous attempts to deploy RL policy to real-world pursuit-evasion are largely restricted to two-dimensional scenarios, such as ground vehicles or UAVs at fixed altitudes. In this paper, we address multi-UAV pursuit-evasion by considering UAV dynamics and physical constraints. We introduce an evader prediction-enhanced network to tackle partial observability in cooperative strategy learning. Additionally, we propose an adaptive environment generator within MARL training, enabling higher exploration efficiency and better policy generalization across diverse scenarios. Simulations show our method significantly outperforms all baselines in challenging scenarios, generalizing to unseen scenarios with a 100% capture rate. Finally, we derive a feasible policy via a two-stage reward refinement and deploy the policy on real quadrotors in a zero-shot manner. To our knowledge, this is the first work to derive and deploy an RL-based policy using collective thrust and body rates control commands for multi-UAV pursuit-evasion in unknown environments. The open-source code and videos are available at https://sites.google.com/view/pursuit-evasion-rl.

SAM-MIL: A Spatial Contextual Aware Multiple Instance Learning Approach for Whole Slide Image Classification

Multiple Instance Learning (MIL) represents the predominant framework in Whole Slide Image (WSI) classification, covering aspects such as sub-typing, diagnosis, and beyond. Current MIL models predominantly rely on instance-level features derived from pretrained models such as ResNet. These models segment each WSI into independent patches and extract features from these local patches, leading to a significant loss of global spatial context and restricting the model's focus to merely local features. To address this issue, we propose a novel MIL framework, named SAM-MIL, that emphasizes spatial contextual awareness and explicitly incorporates spatial context by extracting comprehensive, image-level information. The Segment Anything Model (SAM) represents a pioneering visual segmentation foundational model that can capture segmentation features without the need for additional fine-tuning, rendering it an outstanding tool for extracting spatial context directly from raw WSIs. Our approach includes the design of group feature extraction based on spatial context and a SAM-Guided Group Masking strategy to mitigate class imbalance issues. We implement a dynamic mask ratio for different segmentation categories and supplement these with representative group features of categories. Moreover, SAM-MIL divides instances to generate additional pseudo-bags, thereby augmenting the training set, and introduces consistency of spatial context across pseudo-bags to further enhance the model's performance. Experimental results on the CAMELYON-16 and TCGA Lung Cancer datasets demonstrate that our proposed SAM-MIL model outperforms existing mainstream methods in WSIs classification. Our open-source implementation code is is available at https://github.com/FangHeng/SAM-MIL.

Feature Re-Embedding: Towards Foundation Model-Level Performance in Computational Pathology

Multiple instance learning (MIL) is the most widely used framework in computational pathology, encompassing sub-typing, diagnosis, prognosis, and more. However, the existing MIL paradigm typically requires an offline instance feature extractor, such as a pre-trained ResNet or a foundation model. This approach lacks the capability for feature fine-tuning within the specific downstream tasks, limiting its adaptability and performance. To address this issue, we propose a Re-embedded Regional Transformer (R$^2$T) for re-embedding the instance features online, which captures fine-grained local features and establishes connections across different regions. Unlike existing works that focus on pre-training powerful feature extractor or designing sophisticated instance aggregator, R$^2$T is tailored to re-embed instance features online. It serves as a portable module that can seamlessly integrate into mainstream MIL models. Extensive experimental results on common computational pathology tasks validate that: 1) feature re-embedding improves the performance of MIL models based on ResNet-50 features to the level of foundation model features, and further enhances the performance of foundation model features; 2) the R$^2$T can introduce more significant performance improvements to various MIL models; 3) R$^2$T-MIL, as an R$^2$T-enhanced AB-MIL, outperforms other latest methods by a large margin. The code is available at:~\href{https://github.com/DearCaat/RRT-MIL}{https://github.com/DearCaat/RRT-MIL}.

Review of AlexNet for Medical Image Classification

In recent years, the rapid development of deep learning has led to a wide range of applications in the field of medical image classification. The variants of neural network models with ever-increasing performance share some commonalities: to try to mitigate overfitting, improve generalization, avoid gradient vanishing and exploding, etc. AlexNet first utilizes the dropout technique to mitigate overfitting and the ReLU activation function to avoid gradient vanishing. Therefore, we focus our discussion on AlexNet, which has contributed greatly to the development of CNNs in 2012. After reviewing over 40 papers, including journal papers and conference papers, we give a narrative on the technical details, advantages, and application areas of AlexNet.

Multiple Instance Learning Framework with Masked Hard Instance Mining for Whole Slide Image Classification

The whole slide image (WSI) classification is often formulated as a multiple instance learning (MIL) problem. Since the positive tissue is only a small fraction of the gigapixel WSI, existing MIL methods intuitively focus on identifying salient instances via attention mechanisms. However, this leads to a bias towards easy-to-classify instances while neglecting hard-to-classify instances. Some literature has revealed that hard examples are beneficial for modeling a discriminative boundary accurately. By applying such an idea at the instance level, we elaborate a novel MIL framework with masked hard instance mining (MHIM-MIL), which uses a Siamese structure (Teacher-Student) with a consistency constraint to explore the potential hard instances. With several instance masking strategies based on attention scores, MHIM-MIL employs a momentum teacher to implicitly mine hard instances for training the student model, which can be any attention-based MIL model. This counter-intuitive strategy essentially enables the student to learn a better discriminating boundary. Moreover, the student is used to update the teacher with an exponential moving average (EMA), which in turn identifies new hard instances for subsequent training iterations and stabilizes the optimization. Experimental results on the CAMELYON-16 and TCGA Lung Cancer datasets demonstrate that MHIM-MIL outperforms other latest methods in terms of performance and training cost. The code is available at: https://github.com/DearCaat/MHIM-MIL.

Deformable Kernel Expansion Model for Efficient Arbitrary-shaped Scene Text Detection

Scene text detection is a challenging computer vision task due to the high variation in text shapes and ratios. In this work, we propose a scene text detector named Deformable Kernel Expansion (DKE), which incorporates the merits of both segmentation and contour-based detectors. DKE employs a segmentation module to segment the shrunken text region as the text kernel, then expands the text kernel contour to obtain text boundary by regressing the vertex-wise offsets. Generating the text kernel by segmentation enables DKE to inherit the arbitrary-shaped text region modeling capability of segmentation-based detectors. Regressing the kernel contour with some sampled vertices enables DKE to avoid the complicated pixel-level post-processing and better learn contour deformation as the contour-based detectors. Moreover, we propose an Optimal Bipartite Graph Matching Loss (OBGML) that measures the matching error between the predicted contour and the ground truth, which efficiently minimizes the global contour matching distance. Extensive experiments on CTW1500, Total-Text, MSRA-TD500, and ICDAR2015 demonstrate that DKE achieves a good tradeoff between accuracy and efficiency in scene text detection.

PicT: A Slim Weakly Supervised Vision Transformer for Pavement Distress Classification

Automatic pavement distress classification facilitates improving the efficiency of pavement maintenance and reducing the cost of labor and resources. A recently influential branch of this task divides the pavement image into patches and addresses these issues from the perspective of multi-instance learning. However, these methods neglect the correlation between patches and suffer from a low efficiency in the model optimization and inference. Meanwhile, Swin Transformer is able to address both of these issues with its unique strengths. Built upon Swin Transformer, we present a vision Transformer named \textbf{P}avement \textbf{I}mage \textbf{C}lassification \textbf{T}ransformer (\textbf{PicT}) for pavement distress classification. In order to better exploit the discriminative information of pavement images at the patch level, the \textit{Patch Labeling Teacher} is proposed to leverage a teacher model to dynamically generate pseudo labels of patches from image labels during each iteration, and guides the model to learn the discriminative features of patches. The broad classification head of Swin Transformer may dilute the discriminative features of distressed patches in the feature aggregation step due to the small distressed area ratio of the pavement image. To overcome this drawback, we present a \textit{Patch Refiner} to cluster patches into different groups and only select the highest distress-risk group to yield a slim head for the final image classification. We evaluate our method on CQU-BPDD. Extensive results show that \textbf{PicT} outperforms the second-best performed model by a large margin of $+2.4\%$ in P@R on detection task, $+3.9\%$ in $F1$ on recognition task, and 1.8x throughput, while enjoying 7x faster training speed using the same computing resources. Our codes and models have been released on \href{https://github.com/DearCaat/PicT}{https://github.com/DearCaat/PicT}.

Weakly Supervised Patch Label Inference Networks for Efficient Pavement Distress Detection and Recognition in the Wild

Automatic image-based pavement distress detection and recognition are vital for pavement maintenance and management. However, existing deep learning-based methods largely omit the specific characteristics of pavement images, such as high image resolution and low distress area ratio, and are not end-to-end trainable. In this paper, we present a series of simple yet effective end-to-end deep learning approaches named Weakly Supervised Patch Label Inference Networks (WSPLIN) for efficiently addressing these tasks under various application settings. To fully exploit the resolution and scale information, WSPLIN first divides the pavement image under different scales into patches with different collection strategies and then employs a Patch Label Inference Network (PLIN) to infer the labels of these patches. Notably, we design a patch label sparsity constraint based on the prior knowledge of distress distribution, and leverage the Comprehensive Decision Network (CDN) to guide the training of PLIN in a weakly supervised way. Therefore, the patch labels produced by PLIN provide interpretable intermediate information, such as the rough location and the type of distress. We evaluate our method on a large-scale bituminous pavement distress dataset named CQU-BPDD. Extensive results demonstrate the superiority of our method over baselines in both performance and efficiency.

Iteratively Optimized Patch Label Inference Network for Automatic Pavement Disease Detection

We present a novel deep learning framework named Iteratively Optimized Patch Label Inference Network (IOPLIN) for automatically detecting various pavement diseases not just limited to the specific ones, such as crack and pothole. IOPLIN can be iteratively trained with only the image label via using Expectation-Maximization Inspired Patch Label Distillation (EMIPLD) strategy, and accomplishes this task well by inferring the labels of patches from the pavement images. IOPLIN enjoys many desirable properties over the state-of-the-art single branch CNN models such as GoogLeNet and EfficientNet. It is able to handle any resolution of image and sufficiently utilize image information particularly for the high-resolution ones. Moreover, it can roughly localize the pavement distress without using any prior localization information in training phase. In order to better evaluate the effectiveness of our method in practice, we construct a large-scale Bituminous Pavement Disease Detection dataset named CQU-BPDD consists of 60059 high-resolution pavement images, which are acquired from different areas at different time. Extensive results on this dataset demonstrate the superiority of IOPLIN over the state-of-the-art image classificaiton approaches in automatic pavement disease detection.