SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking

Accurate and efficient surgical robotic tool pose estimation is of fundamental significance to downstream applications such as augmented reality (AR) in surgical training and learning-based autonomous manipulation. While significant advancements have been made in pose estimation for humans and animals, it is still a challenge in surgical robotics due to the scarcity of published data. The relatively large absolute error of the da Vinci end effector kinematics and arduous calibration procedure make calibrated kinematics data collection expensive. Driven by this limitation, we collected a dataset, dubbed SurgPose, providing instance-aware semantic keypoints and skeletons for visual surgical tool pose estimation and tracking. By marking keypoints using ultraviolet (UV) reactive paint, which is invisible under white light and fluorescent under UV light, we execute the same trajectory under different lighting conditions to collect raw videos and keypoint annotations, respectively. The SurgPose dataset consists of approximately 120k surgical instrument instances (80k for training and 40k for validation) of 6 categories. Each instrument instance is labeled with 7 semantic keypoints. Since the videos are collected in stereo pairs, the 2D pose can be lifted to 3D based on stereo-matching depth. In addition to releasing the dataset, we test a few baseline approaches to surgical instrument tracking to demonstrate the utility of SurgPose. More details can be found at surgpose.github.io.

Generative CKM Construction using Partially Observed Data with Diffusion Model

Channel knowledge map (CKM) is a promising technique that enables environment-aware wireless networks by utilizing location-specific channel prior information to improve communication and sensing performance. A fundamental problem for CKM construction is how to utilize partially observed channel knowledge data to reconstruct a complete CKM for all possible locations of interest. This problem resembles the long-standing ill-posed inverse problem, which tries to infer from a set of limited observations the cause factors that produced them. By utilizing the recent advances of solving inverse problems with generative artificial intelligence (AI), in this paper, we propose generative CKM construction method using partially observed data by solving inverse problems with diffusion models. Simulation results show that the proposed method significantly improves the performance of CKM construction compared with benchmarking schemes.

FunGrasp: Functional Grasping for Diverse Dexterous Hands

Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping capabilities is crucial for their deployment to accomplish diverse real-world tasks. Recent research in dexterous grasping, however, often focuses on power grasps while overlooking task- and object-specific functional grasping poses. In this paper, we introduce FunGrasp, a system that enables functional dexterous grasping across various robot hands and performs one-shot transfer to unseen objects. Given a single RGBD image of functional human grasping, our system estimates the hand pose and transfers it to different robotic hands via a human-to-robot (H2R) grasp retargeting module. Guided by the retargeted grasping poses, a policy is trained through reinforcement learning in simulation for dynamic grasping control. To achieve robust sim-to-real transfer, we employ several techniques including privileged learning, system identification, domain randomization, and gravity compensation. In our experiments, we demonstrate that our system enables diverse functional grasping of unseen objects using single RGBD images, and can be successfully deployed across various dexterous robot hands. The significance of the components is validated through comprehensive ablation studies. Project page: https://hly-123.github.io/FunGrasp/ .

FATE: Full-head Gaussian Avatar with Textural Editing from Monocular Video

Reconstructing high-fidelity, animatable 3D head avatars from effortlessly captured monocular videos is a pivotal yet formidable challenge. Although significant progress has been made in rendering performance and manipulation capabilities, notable challenges remain, including incomplete reconstruction and inefficient Gaussian representation. To address these challenges, we introduce FATE, a novel method for reconstructing an editable full-head avatar from a single monocular video. FATE integrates a sampling-based densification strategy to ensure optimal positional distribution of points, improving rendering efficiency. A neural baking technique is introduced to convert discrete Gaussian representations into continuous attribute maps, facilitating intuitive appearance editing. Furthermore, we propose a universal completion framework to recover non-frontal appearance, culminating in a 360$^\circ$-renderable 3D head avatar. FATE outperforms previous approaches in both qualitative and quantitative evaluations, achieving state-of-the-art performance. To the best of our knowledge, FATE is the first animatable and 360$^\circ$ full-head monocular reconstruction method for a 3D head avatar. The code will be publicly released upon publication.

A-MFST: Adaptive Multi-Flow Sparse Tracker for Real-Time Tissue Tracking Under Occlusion

Purpose: Tissue tracking is critical for downstream tasks in robot-assisted surgery. The Sparse Efficient Neural Depth and Deformation (SENDD) model has previously demonstrated accurate and real-time sparse point tracking, but struggled with occlusion handling. This work extends SENDD to enhance occlusion detection and tracking consistency while maintaining real-time performance. Methods: We use the Segment Anything Model2 (SAM2) to detect and mask occlusions by surgical tools, and we develop and integrate into SENDD an Adaptive Multi-Flow Sparse Tracker (A-MFST) with forward-backward consistency metrics, to enhance occlusion and uncertainty estimation. A-MFST is an unsupervised variant of the Multi-Flow Dense Tracker (MFT). Results: We evaluate our approach on the STIR dataset and demonstrate a significant improvement in tracking accuracy under occlusion, reducing average tracking errors by 12 percent in Mean Endpoint Error (MEE) and showing a 6 percent improvement in the averaged accuracy over thresholds of 4, 8, 16, 32, and 64 pixels. The incorporation of forward-backward consistency further improves the selection of optimal tracking paths, reducing drift and enhancing robustness. Notably, these improvements were achieved without compromising the model's real-time capabilities. Conclusions: Using A-MFST and SAM2, we enhance SENDD's ability to track tissue in real time under instrument and tissue occlusions.

InternLM2.5-StepProver: Advancing Automated Theorem Proving via Expert Iteration on Large-Scale LEAN Problems

Large Language Models (LLMs) have emerged as powerful tools in mathematical theorem proving, particularly when utilizing formal languages such as LEAN. The major learning paradigm is expert iteration, which necessitates a pre-defined dataset comprising numerous mathematical problems. In this process, LLMs attempt to prove problems within the dataset and iteratively refine their capabilities through self-training on the proofs they discover. We propose to use large scale LEAN problem datasets Lean-workbook for expert iteration with more than 20,000 CPU days. During expert iteration, we found log-linear trends between solved problem amount with proof length and CPU usage. We train a critic model to select relatively easy problems for policy models to make trials and guide the model to search for deeper proofs. InternLM2.5-StepProver achieves open-source state-of-the-art on MiniF2F, Lean-Workbook-Plus, ProofNet, and Putnam benchmarks. Specifically, it achieves a pass of 65.9% on the MiniF2F-test and proves (or disproves) 17.0% of problems in Lean-Workbook-Plus which shows a significant improvement compared to only 9.5% of problems proved when Lean-Workbook-Plus was released. We open-source our models and searched proofs at https://github.com/InternLM/InternLM-Math and https://huggingface.co/datasets/internlm/Lean-Workbook.

LEAN-GitHub: Compiling GitHub LEAN repositories for a versatile LEAN prover

Recently, large language models have presented promising results in aiding formal mathematical reasoning. However, their performance is restricted due to the scarcity of formal theorem-proving data, which requires additional effort to be extracted from raw formal language corpora. Meanwhile, a significant amount of human-written formal language corpora remains underutilized. To address this issue, we propose LEAN-GitHub, a dataset consisting of large-scale formal data extracted from almost all Lean 4 repositories on GitHub. After fine-tuning InternLM-math-plus on this dataset, our model achieved accuracies of 48.8% with a single pass and 54.5% with 64 passes on the Lean 4 miniF2F test, surpassing state-of-the-art method at 52%. And it also achieves state-of-the-art on two other Lean 4 benchmarks (ProofNet and Putnam) targeting different fields/levels of math. These results demonstrate that our proposed dataset is beneficial for formal reasoning on a wide range of math topics. We open-source our model at https://GitHub. com/InternLM/InternLM-Math and our data at https://huggingface.co/ datasets/InternLM/Lean-GitHub

Evolving Subnetwork Training for Large Language Models

Large language models have ushered in a new era of artificial intelligence research. However, their substantial training costs hinder further development and widespread adoption. In this paper, inspired by the redundancy in the parameters of large language models, we propose a novel training paradigm: Evolving Subnetwork Training (EST). EST samples subnetworks from the layers of the large language model and from commonly used modules within each layer, Multi-Head Attention (MHA) and Multi-Layer Perceptron (MLP). By gradually increasing the size of the subnetworks during the training process, EST can save the cost of training. We apply EST to train GPT2 model and TinyLlama model, resulting in 26.7\% FLOPs saving for GPT2 and 25.0\% for TinyLlama without an increase in loss on the pre-training dataset. Moreover, EST leads to performance improvements in downstream tasks, indicating that it benefits generalization. Additionally, we provide intuitive theoretical studies based on training dynamics and Dropout theory to ensure the feasibility of EST. Our code is available at https://github.com/OpenDFM/EST.

Lean Workbook: A large-scale Lean problem set formalized from natural language math problems

Large language models have demonstrated impressive capabilities across various natural language processing tasks, especially in solving mathematical problems. However, large language models are not good at math theorem proving using formal languages like Lean. A significant challenge in this area is the scarcity of training data available in these formal languages. To address this issue, we propose a novel pipeline that iteratively generates and filters synthetic data to translate natural language mathematical problems into Lean 4 statements, and vice versa. Our results indicate that the synthetic data pipeline can provide useful training data and improve the performance of LLMs in translating and understanding complex mathematical problems and proofs. Our final dataset contains about 57K formal-informal question pairs along with searched proof from the math contest forum and 21 new IMO questions. We open-source our code at https://github.com/InternLM/InternLM-Math and our data at https://huggingface.co/datasets/InternLM/Lean-Workbook.

Real-time Surgical Instrument Segmentation in Video Using Point Tracking and Segment Anything

The Segment Anything Model (SAM) is a powerful vision foundation model that is revolutionizing the traditional paradigm of segmentation. Despite this, a reliance on prompting each frame and large computational cost limit its usage in robotically assisted surgery. Applications, such as augmented reality guidance, require little user intervention along with efficient inference to be usable clinically. In this study, we address these limitations by adopting lightweight SAM variants to meet the speed requirement and employing fine-tuning techniques to enhance their generalization in surgical scenes. Recent advancements in Tracking Any Point (TAP) have shown promising results in both accuracy and efficiency, particularly when points are occluded or leave the field of view. Inspired by this progress, we present a novel framework that combines an online point tracker with a lightweight SAM model that is fine-tuned for surgical instrument segmentation. Sparse points within the region of interest are tracked and used to prompt SAM throughout the video sequence, providing temporal consistency. The quantitative results surpass the state-of-the-art semi-supervised video object segmentation method on the EndoVis 2015 dataset, with an over 25 FPS inference speed running on a single GeForce RTX 4060 GPU.