MCCoder: Streamlining Motion Control with LLM-Assisted Code Generation and Rigorous Verification

Large Language Models (LLMs) have shown considerable promise in code generation. However, the automation sector, especially in motion control, continues to rely heavily on manual programming due to the complexity of tasks and critical safety considerations. In this domain, incorrect code execution can pose risks to both machinery and personnel, necessitating specialized expertise. To address these challenges, we introduce MCCoder, an LLM-powered system designed to generate code that addresses complex motion control tasks, with integrated soft-motion data verification. MCCoder enhances code generation through multitask decomposition, hybrid retrieval-augmented generation (RAG), and self-correction with a private motion library. Moreover, it supports data verification by logging detailed trajectory data and providing simulations and plots, allowing users to assess the accuracy of the generated code and bolstering confidence in LLM-based programming. To ensure robust validation, we propose MCEVAL, an evaluation dataset with metrics tailored to motion control tasks of varying difficulties. Experiments indicate that MCCoder improves performance by 11.61% overall and by 66.12% on complex tasks in MCEVAL dataset compared with base models with naive RAG. This system and dataset aim to facilitate the application of code generation in automation settings with strict safety requirements. MCCoder is publicly available at https://github.com/MCCodeAI/MCCoder.

Boosting Open-Domain Continual Learning via Leveraging Intra-domain Category-aware Prototype

Despite recent progress in enhancing the efficacy of Open-Domain Continual Learning (ODCL) in Vision-Language Models (VLM), failing to (1) correctly identify the Task-ID of a test image and (2) use only the category set corresponding to the Task-ID, while preserving the knowledge related to each domain, cannot address the two primary challenges of ODCL: forgetting old knowledge and maintaining zero-shot capabilities, as well as the confusions caused by category-relatedness between domains. In this paper, we propose a simple yet effective solution: leveraging intra-domain category-aware prototypes for ODCL in CLIP (DPeCLIP), where the prototype is the key to bridging the above two processes. Concretely, we propose a training-free Task-ID discriminator method, by utilizing prototypes as classifiers for identifying Task-IDs. Furthermore, to maintain the knowledge corresponding to each domain, we incorporate intra-domain category-aware prototypes as domain prior prompts into the training process. Extensive experiments conducted on 11 different datasets demonstrate the effectiveness of our approach, achieving 2.37% and 1.14% average improvement in class-incremental and task-incremental settings, respectively.

RICA2: Rubric-Informed, Calibrated Assessment of Actions

The ability to quantify how well an action is carried out, also known as action quality assessment (AQA), has attracted recent interest in the vision community. Unfortunately, prior methods often ignore the score rubric used by human experts and fall short of quantifying the uncertainty of the model prediction. To bridge the gap, we present RICA^2 - a deep probabilistic model that integrates score rubric and accounts for prediction uncertainty for AQA. Central to our method lies in stochastic embeddings of action steps, defined on a graph structure that encodes the score rubric. The embeddings spread probabilistic density in the latent space and allow our method to represent model uncertainty. The graph encodes the scoring criteria, based on which the quality scores can be decoded. We demonstrate that our method establishes new state of the art on public benchmarks, including FineDiving, MTL-AQA, and JIGSAWS, with superior performance in score prediction and uncertainty calibration. Our code is available at https://abrarmajeedi.github.io/rica2_aqa/

SnAG: Scalable and Accurate Video Grounding

Temporal grounding of text descriptions in videos is a central problem in vision-language learning and video understanding. Existing methods often prioritize accuracy over scalability -- they have been optimized for grounding only a few text queries within short videos, and fail to scale up to long videos with hundreds of queries. In this paper, we study the effect of cross-modal fusion on the scalability of video grounding models. Our analysis establishes late fusion as a more cost-effective fusion scheme for long-form videos with many text queries. Moreover, it leads us to a novel, video-centric sampling scheme for efficient training. Based on these findings, we present SnAG, a simple baseline for scalable and accurate video grounding. Without bells and whistles, SnAG is 43% more accurate and 1.5x faster than CONE, a state of the art for long-form video grounding on the challenging MAD dataset, while achieving highly competitive results on short videos.

A dataset of primary nasopharyngeal carcinoma MRI with multi-modalities segmentation

Multi-modality magnetic resonance imaging data with various sequences facilitate the early diagnosis, tumor segmentation, and disease staging in the management of nasopharyngeal carcinoma (NPC). The lack of publicly available, comprehensive datasets limits advancements in diagnosis, treatment planning, and the development of machine learning algorithms for NPC. Addressing this critical need, we introduce the first comprehensive NPC MRI dataset, encompassing MR axial imaging of 277 primary NPC patients. This dataset includes T1-weighted, T2-weighted, and contrast-enhanced T1-weighted sequences, totaling 831 scans. In addition to the corresponding clinical data, manually annotated and labeled segmentations by experienced radiologists offer high-quality data resources from untreated primary NPC.

Towards 3D Vision with Low-Cost Single-Photon Cameras

We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras, operating as time resolved image sensors, illuminate the scene with a very fast pulse of diffuse light and record the shape of that pulse as it returns back from the scene at a high temporal resolution. We propose to model this image formation process, account for its non-idealities, and adapt neural rendering to reconstruct 3D geometry from a set of spatially distributed sensors with known poses. We show that our approach can successfully recover complex 3D shapes from simulated data. We further demonstrate 3D object reconstruction from real-world captures, utilizing measurements from a commodity proximity sensor. Our work draws a connection between image-based modeling and active range scanning and is a step towards 3D vision with single-photon cameras.

CoPlay: Audio-agnostic Cognitive Scaling for Acoustic Sensing

Acoustic sensing manifests great potential in various applications that encompass health monitoring, gesture interface and imaging by leveraging the speakers and microphones on smart devices. However, in ongoing research and development in acoustic sensing, one problem is often overlooked: the same speaker, when used concurrently for sensing and other traditional applications (like playing music), could cause interference in both making it impractical to use in the real world. The strong ultrasonic sensing signals mixed with music would overload the speaker's mixer. To confront this issue of overloaded signals, current solutions are clipping or down-scaling, both of which affect the music playback quality and also sensing range and accuracy. To address this challenge, we propose CoPlay, a deep learning based optimization algorithm to cognitively adapt the sensing signal. It can 1) maximize the sensing signal magnitude within the available bandwidth left by the concurrent music to optimize sensing range and accuracy and 2) minimize any consequential frequency distortion that can affect music playback. In this work, we design a deep learning model and test it on common types of sensing signals (sine wave or Frequency Modulated Continuous Wave FMCW) as inputs with various agnostic concurrent music and speech. First, we evaluated the model performance to show the quality of the generated signals. Then we conducted field studies of downstream acoustic sensing tasks in the real world. A study with 12 users proved that respiration monitoring and gesture recognition using our adapted signal achieve similar accuracy as no-concurrent-music scenarios, while clipping or down-scaling manifests worse accuracy. A qualitative study also manifests that the music play quality is not degraded, unlike traditional clipping or down-scaling methods.

Towards Few-Shot Adaptation of Foundation Models via Multitask Finetuning

Foundation models have emerged as a powerful tool for many AI problems. Despite the tremendous success of foundation models, effective adaptation to new tasks, particularly those with limited labels, remains an open question and lacks theoretical understanding. An emerging solution with recent success in vision and NLP involves finetuning a foundation model on a selection of relevant tasks, before its adaptation to a target task with limited labeled samples. In this paper, we study the theoretical justification of this multitask finetuning approach. Our theoretical analysis reveals that with a diverse set of related tasks, this multitask finetuning leads to reduced error in the target task, in comparison to directly adapting the same pretrained model. We quantify the relationship between finetuning tasks and target tasks by diversity and consistency metrics, and further propose a practical task selection algorithm. We substantiate our theoretical claims with extensive empirical evidence. Further, we present results affirming our task selection algorithm adeptly chooses related finetuning tasks, providing advantages to the model performance on target tasks. We believe our study shed new light on the effective adaptation of foundation models to new tasks that lack abundant labels. Our code is available at https://github.com/OliverXUZY/Foudation-Model_Multitask.

BioDrone: A Bionic Drone-based Single Object Tracking Benchmark for Robust Vision

Single object tracking (SOT) is a fundamental problem in computer vision, with a wide range of applications, including autonomous driving, augmented reality, and robot navigation. The robustness of SOT faces two main challenges: tiny target and fast motion. These challenges are especially manifested in videos captured by unmanned aerial vehicles (UAV), where the target is usually far away from the camera and often with significant motion relative to the camera. To evaluate the robustness of SOT methods, we propose BioDrone -- the first bionic drone-based visual benchmark for SOT. Unlike existing UAV datasets, BioDrone features videos captured from a flapping-wing UAV system with a major camera shake due to its aerodynamics. BioDrone hence highlights the tracking of tiny targets with drastic changes between consecutive frames, providing a new robust vision benchmark for SOT. To date, BioDrone offers the largest UAV-based SOT benchmark with high-quality fine-grained manual annotations and automatically generates frame-level labels, designed for robust vision analyses. Leveraging our proposed BioDrone, we conduct a systematic evaluation of existing SOT methods, comparing the performance of 20 representative models and studying novel means of optimizing a SOTA method (KeepTrack KeepTrack) for robust SOT. Our evaluation leads to new baselines and insights for robust SOT. Moving forward, we hope that BioDrone will not only serve as a high-quality benchmark for robust SOT, but also invite future research into robust computer vision. The database, toolkits, evaluation server, and baseline results are available at http://biodrone.aitestunion.com.

Sequential Model for Predicting Patient Adherence in Subcutaneous Immunotherapy for Allergic Rhinitis

Objective: Subcutaneous Immunotherapy (SCIT) is the long-lasting causal treatment of allergic rhinitis. How to enhance the adherence of patients to maximize the benefit of allergen immunotherapy (AIT) plays a crucial role in the management of AIT. This study aims to leverage novel machine learning models to precisely predict the risk of non-adherence of patients and related systematic symptom scores, to provide a novel approach in the management of long-term AIT. Methods: The research develops and analyzes two models, Sequential Latent Actor-Critic (SLAC) and Long Short-Term Memory (LSTM), evaluating them based on scoring and adherence prediction capabilities. Results: Excluding the biased samples at the first time step, the predictive adherence accuracy of the SLAC models is from $60\,\%$ to $72\%$, and for LSTM models, it is $66\,\%$ to $84\,\%$, varying according to the time steps. The range of Root Mean Square Error (RMSE) for SLAC models is between $0.93$ and $2.22$, while for LSTM models it is between $1.09$ and $1.77$. Notably, these RMSEs are significantly lower than the random prediction error of $4.55$. Conclusion: We creatively apply sequential models in the long-term management of SCIT with promising accuracy in the prediction of SCIT nonadherence in Allergic Rhinitis (AR) patients. While LSTM outperforms SLAC in adherence prediction, SLAC excels in score prediction for patients undergoing SCIT for AR. The state-action-based SLAC adds flexibility, presenting a novel and effective approach for managing long-term AIT.