EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understanding

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to embodied agents which demands to gradually perceive the scene through progressive embodied exploration. In this paper, we formulate an embodied 3D occupancy prediction task to target this practical scenario and propose a Gaussian-based EmbodiedOcc framework to accomplish it. We initialize the global scene with uniform 3D semantic Gaussians and progressively update local regions observed by the embodied agent. For each update, we extract semantic and structural features from the observed image and efficiently incorporate them via deformable cross-attention to refine the regional Gaussians. Finally, we employ Gaussian-to-voxel splatting to obtain the global 3D occupancy from the updated 3D Gaussians. Our EmbodiedOcc assumes an unknown (i.e., uniformly distributed) environment and maintains an explicit global memory of it with 3D Gaussians. It gradually gains knowledge through local refinement of regional Gaussians, which is consistent with how humans understand new scenes through embodied exploration. We reorganize an EmbodiedOcc-ScanNet benchmark based on local annotations to facilitate the evaluation of the embodied 3D occupancy prediction task. Experiments demonstrate that our EmbodiedOcc outperforms existing local prediction methods and accomplishes the embodied occupancy prediction with high accuracy and strong expandability. Our code is available at: https://github.com/YkiWu/EmbodiedOcc.

Dynamic Self-Consistency: Leveraging Reasoning Paths for Efficient LLM Sampling

Self-Consistency (SC) is a widely used method to mitigate hallucinations in Large Language Models (LLMs) by sampling the LLM multiple times and outputting the most frequent solution. Despite its benefits, SC results in significant computational costs proportional to the number of samples generated. Previous early-stopping approaches, such as Early Stopping Self Consistency and Adaptive Consistency, have aimed to reduce these costs by considering output consistency, but they do not analyze the quality of the reasoning paths (RPs) themselves. To address this issue, we propose Reasoning-Aware Self-Consistency (RASC), an innovative early-stopping framework that dynamically adjusts the number of sample generations by considering both the output answer and the RPs from Chain of Thought (CoT) prompting. RASC assigns confidence scores sequentially to the generated samples, stops when certain criteria are met, and then employs weighted majority voting to optimize sample usage and enhance answer reliability. We comprehensively test RASC with multiple LLMs across varied QA datasets. RASC outperformed existing methods and significantly reduces sample usage by an average of 80% while maintaining or improving accuracy up to 5% compared to the original SC

CoT Rerailer: Enhancing the Reliability of Large Language Models in Complex Reasoning Tasks through Error Detection and Correction

Chain-of-Thought (CoT) prompting enhances Large Language Models (LLMs) complex reasoning abilities by generating intermediate steps. However, these steps can introduce hallucinations and accumulate errors. We propose the CoT Rerailer to address these challenges, employing self-consistency and multi-agent debate systems to identify and rectify errors in the reasoning process. The CoT Rerailer first selects the most logically correct Reasoning Path (RP) using consistency checks and critical evaluation by automated agents. It then engages a multi-agent debate system to propose and validate corrections to ensure the generation of an error-free intermediate logical path. The corrected steps are then used to generate a revised reasoning chain to further reduce hallucinations and enhance answer quality. We demonstrate the effectiveness of our approach across diverse question-answering datasets in various knowledge domains. The CoT Rerailer enhances the reliability of LLM-generated reasoning, contributing to more trustworthy AI driven decision-making processes.

Use of natural language processing to extract and classify papillary thyroid cancer features from surgical pathology reports

Background We aim to use Natural Language Processing (NLP) to automate the extraction and classification of thyroid cancer risk factors from pathology reports. Methods We analyzed 1,410 surgical pathology reports from adult papillary thyroid cancer patients at Mayo Clinic, Rochester, MN, from 2010 to 2019. Structured and non-structured reports were used to create a consensus-based ground truth dictionary and categorized them into modified recurrence risk levels. Non-structured reports were narrative, while structured reports followed standardized formats. We then developed ThyroPath, a rule-based NLP pipeline, to extract and classify thyroid cancer features into risk categories. Training involved 225 reports (150 structured, 75 unstructured), with testing on 170 reports (120 structured, 50 unstructured) for evaluation. The pipeline's performance was assessed using both strict and lenient criteria for accuracy, precision, recall, and F1-score. Results In extraction tasks, ThyroPath achieved overall strict F-1 scores of 93% for structured reports and 90 for unstructured reports, covering 18 thyroid cancer pathology features. In classification tasks, ThyroPath-extracted information demonstrated an overall accuracy of 93% in categorizing reports based on their corresponding guideline-based risk of recurrence: 76.9% for high-risk, 86.8% for intermediate risk, and 100% for both low and very low-risk cases. However, ThyroPath achieved 100% accuracy across all thyroid cancer risk categories with human-extracted pathology information. Conclusions ThyroPath shows promise in automating the extraction and risk recurrence classification of thyroid pathology reports at large scale. It offers a solution to laborious manual reviews and advancing virtual registries. However, it requires further validation before implementation.

Bridging Causal Discovery and Large Language Models: A Comprehensive Survey of Integrative Approaches and Future Directions

Causal discovery (CD) and Large Language Models (LLMs) represent two emerging fields of study with significant implications for artificial intelligence. Despite their distinct origins, CD focuses on uncovering cause-effect relationships from data, and LLMs on processing and generating humanlike text, the convergence of these domains offers novel insights and methodologies for understanding complex systems. This paper presents a comprehensive survey of the integration of LLMs, such as GPT4, into CD tasks. We systematically review and compare existing approaches that leverage LLMs for various CD tasks and highlight their innovative use of metadata and natural language to infer causal structures. Our analysis reveals the strengths and potential of LLMs in both enhancing traditional CD methods and as an imperfect expert, alongside the challenges and limitations inherent in current practices. Furthermore, we identify gaps in the literature and propose future research directions aimed at harnessing the full potential of LLMs in causality research. To our knowledge, this is the first survey to offer a unified and detailed examination of the synergy between LLMs and CD, setting the stage for future advancements in the field.