Search

Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and specifies the homotopy class of the trajectory, and a back-end that optimizes this path to respect dynamics and input constraints. While there are many different choices for each stage, the eventual performance depends critically not only on these choices, but also on the environment. Given a new environment, it is difficult to decide a priori how one should design a motion planner. In this work, we develop (i) a procedure to construct parametrized environments, (ii) metrics that characterize the difficulty of motion planning in these environments, and (iii) an open-source software stack that can be used to combine a wide variety of two-stage planners seamlessly. We perform experiments in simulations and a real platform. We find, somewhat conveniently, that geometric front-ends are sufficient for environments with varying complexities if combined with dynamics-aware backends. The metrics we designed faithfully capture the planning difficulty in a given environment. All code is available at https://github.com/KumarRobotics/kr_mp_design

To address the increasing computational demands of artificial intelligence (AI) and big data, compute-in-memory (CIM) integrates memory and processing units into the same physical location, reducing the time and energy overhead of the system. Despite advancements in non-volatile memory (NVM) for matrix multiplication, other critical data-intensive operations, like parallel search, have been overlooked. Current parallel search architectures, namely content-addressable memory (CAM), often use binary, which restricts density and functionality. We present an analog CAM (ACAM) cell, built on two complementary ferroelectric field-effect transistors (FeFETs), that performs parallel search in the analog domain with over 40 distinct match windows. We then deploy it to calculate similarity between vectors, a building block in the following two machine learning problems. ACAM outperforms ternary CAM (TCAM) when applied to similarity search for few-shot learning on the Omniglot dataset, yielding projected simulation results with improved inference accuracy by 5%, 3x denser memory architecture, and more than 100x faster speed compared to central processing unit (CPU) and graphics processing unit (GPU) per similarity search on scaled CMOS nodes. We also demonstrate 1-step inference on a kernel regression model by combining non-linear kernel computation and matrix multiplication in ACAM, with simulation estimates indicating 1,000x faster inference than CPU and GPU.

Analyzing vast textual data and summarizing key information from electronic health records imposes a substantial burden on how clinicians allocate their time. Although large language models (LLMs) have shown promise in natural language processing (NLP), their effectiveness on a diverse range of clinical summarization tasks remains unproven. In this study, we apply adaptation methods to eight LLMs, spanning four distinct clinical summarization tasks: radiology reports, patient questions, progress notes, and doctor-patient dialogue. Quantitative assessments with syntactic, semantic, and conceptual NLP metrics reveal trade-offs between models and adaptation methods. A clinical reader study with ten physicians evaluates summary completeness, correctness, and conciseness; in a majority of cases, summaries from our best adapted LLMs are either equivalent (45%) or superior (36%) compared to summaries from medical experts. The ensuing safety analysis highlights challenges faced by both LLMs and medical experts, as we connect errors to potential medical harm and categorize types of fabricated information. Our research provides evidence of LLMs outperforming medical experts in clinical text summarization across multiple tasks. This suggests that integrating LLMs into clinical workflows could alleviate documentation burden, allowing clinicians to focus more on patient care., Comment: 27 pages, 19 figures

Recommendation strategies are typically evaluated by using previously logged data, employing off-policy evaluation methods to estimate their expected performance. However, for strategies that present users with slates of multiple items, the resulting combinatorial action space renders many of these methods impractical. Prior work has developed estimators that leverage the structure in slates to estimate the expected off-policy performance, but the estimation of the entire performance distribution remains elusive. Estimating the complete distribution allows for a more comprehensive evaluation of recommendation strategies, particularly along the axes of risk and fairness that employ metrics computable from the distribution. In this paper, we propose an estimator for the complete off-policy performance distribution for slates and establish conditions under which the estimator is unbiased and consistent. This builds upon prior work on off-policy evaluation for slates and off-policy distribution estimation in reinforcement learning. We validate the efficacy of our method empirically on synthetic data as well as on a slate recommendation simulator constructed from real-world data (MovieLens-20M). Our results show a significant reduction in estimation variance and improved sample efficiency over prior work across a range of slate structures., Comment: Accepted in The 38th Annual AAAI Conference on Artificial Intelligence (AAAI-24)

The ability of large language models (LLMs) to follow natural language instructions with human-level fluency suggests many opportunities in healthcare to reduce administrative burden and improve quality of care. However, evaluating LLMs on realistic text generation tasks for healthcare remains challenging. Existing question answering datasets for electronic health record (EHR) data fail to capture the complexity of information needs and documentation burdens experienced by clinicians. To address these challenges, we introduce MedAlign, a benchmark dataset of 983 natural language instructions for EHR data. MedAlign is curated by 15 clinicians (7 specialities), includes clinician-written reference responses for 303 instructions, and provides 276 longitudinal EHRs for grounding instruction-response pairs. We used MedAlign to evaluate 6 general domain LLMs, having clinicians rank the accuracy and quality of each LLM response. We found high error rates, ranging from 35% (GPT-4) to 68% (MPT-7B-Instruct), and an 8.3% drop in accuracy moving from 32k to 2k context lengths for GPT-4. Finally, we report correlations between clinician rankings and automated natural language generation metrics as a way to rank LLMs without human review. We make MedAlign available under a research data use agreement to enable LLM evaluations on tasks aligned with clinician needs and preferences.

Vision-language models (VLMs), such as CLIP and ALIGN, are generally trained on datasets consisting of image-caption pairs obtained from the web. However, real-world multimodal datasets, such as healthcare data, are significantly more complex: each image (e.g. X-ray) is often paired with text (e.g. physician report) that describes many distinct attributes occurring in fine-grained regions of the image. We refer to these samples as exhibiting high pairwise complexity, since each image-text pair can be decomposed into a large number of region-attribute pairings. The extent to which VLMs can capture fine-grained relationships between image regions and textual attributes when trained on such data has not been previously evaluated. The first key contribution of this work is to demonstrate through systematic evaluations that as the pairwise complexity of the training dataset increases, standard VLMs struggle to learn region-attribute relationships, exhibiting performance degradations of up to 37% on retrieval tasks. In order to address this issue, we introduce ViLLA as our second key contribution. ViLLA, which is trained to capture fine-grained region-attribute relationships from complex datasets, involves two components: (a) a lightweight, self-supervised mapping model to decompose image-text samples into region-attribute pairs, and (b) a contrastive VLM to learn representations from generated region-attribute pairs. We demonstrate with experiments across four domains (synthetic, product, medical, and natural images) that ViLLA outperforms comparable VLMs on fine-grained reasoning tasks, such as zero-shot object detection (up to 3.6 AP50 points on COCO and 0.6 mAP points on LVIS) and retrieval (up to 14.2 R-Precision points)., Comment: ICCV 2023

The task of medical image segmentation presents unique challenges, necessitating both localized and holistic semantic understanding to accurately delineate areas of interest, such as critical tissues or aberrant features. This complexity is heightened in medical image segmentation due to the high degree of inter-class similarities, intra-class variations, and possible image obfuscation. The segmentation task further diversifies when considering the study of histopathology slides for autoimmune diseases like dermatomyositis. The analysis of cell inflammation and interaction in these cases has been less studied due to constraints in data acquisition pipelines. Despite the progressive strides in medical science, we lack a comprehensive collection of autoimmune diseases. As autoimmune diseases globally escalate in prevalence and exhibit associations with COVID-19, their study becomes increasingly essential. While there is existing research that integrates artificial intelligence in the analysis of various autoimmune diseases, the exploration of dermatomyositis remains relatively underrepresented. In this paper, we present a deep-learning approach tailored for Medical image segmentation. Our proposed method outperforms the current state-of-the-art techniques by an average of 12.26% for U-Net and 12.04% for U-Net++ across the ResNet family of encoders on the dermatomyositis dataset. Furthermore, we probe the importance of optimizing loss function weights and benchmark our methodology on three challenging medical image segmentation tasks, Comment: Accepted at ICCV CVAMD 2023

Machine learning (ML) has shown great promise for revolutionizing a number of areas, including healthcare. However, it is also facing a reproducibility crisis, especially in medicine. ML models that are carefully constructed from and evaluated on a training set might not generalize well on data from different patient populations or acquisition instrument settings and protocols. We tackle this problem in the context of neuroimaging of Alzheimer's disease (AD), schizophrenia (SZ) and brain aging. We develop a weighted empirical risk minimization approach that optimally combines data from a source group, e.g., subjects are stratified by attributes such as sex, age group, race and clinical cohort to make predictions on a target group, e.g., other sex, age group, etc. using a small fraction (10%) of data from the target group. We apply this method to multi-source data of 15,363 individuals from 20 neuroimaging studies to build ML models for diagnosis of AD and SZ, and estimation of brain age. We found that this approach achieves substantially better accuracy than existing domain adaptation techniques: it obtains area under curve greater than 0.95 for AD classification, area under curve greater than 0.7 for SZ classification and mean absolute error less than 5 years for brain age prediction on all target groups, achieving robustness to variations of scanners, protocols, and demographic or clinical characteristics. In some cases, it is even better than training on all data from the target group, because it leverages the diversity and size of a larger training set. We also demonstrate the utility of our models for prognostic tasks such as predicting disease progression in individuals with mild cognitive impairment. Critically, our brain age prediction models lead to new clinical insights regarding correlations with neurophysiological tests.

The main challenge of offline reinforcement learning, where data is limited, arises from a sequence of counterfactual reasoning dilemmas within the realm of potential actions: What if we were to choose a different course of action? These circumstances frequently give rise to extrapolation errors, which tend to accumulate exponentially with the problem horizon. Hence, it becomes crucial to acknowledge that not all decision steps are equally important to the final outcome, and to budget the number of counterfactual decisions a policy make in order to control the extrapolation. Contrary to existing approaches that use regularization on either the policy or value function, we propose an approach to explicitly bound the amount of out-of-distribution actions during training. Specifically, our method utilizes dynamic programming to decide where to extrapolate and where not to, with an upper bound on the decisions different from behavior policy. It balances between the potential for improvement from taking out-of-distribution actions and the risk of making errors due to extrapolation. Theoretically, we justify our method by the constrained optimality of the fixed point solution to our $Q$ updating rules. Empirically, we show that the overall performance of our method is better than the state-of-the-art offline RL methods on tasks in the widely-used D4RL benchmarks., Comment: Published at NeurIPS 2023

Current developments in video encoding technology lead to continuously improving compression performance but at the expense of increasingly higher computational demands. Regarding the online video traffic increases during the last years and the concomitant need for video encoding, encoder complexity control mechanisms are required to restrict the processing time to a sufficient extent in order to find a reasonable trade-off between performance and complexity. We present a complexity control mechanism in SVT-AV1 by using speed-adaptive preset switching to comply with the remaining time budget. This method enables encoding with a user-defined time constraint within the complete preset range with an average precision of 8.9 \% without introducing any additional latencies., Comment: 5 pages, 2 figures, accepted for IEEE International Conference on Image Processing (ICIP) 2023