Surgical robot automation has attracted increasing research interest over the past decade, expecting its huge potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied AI has demonstrated promising ability to learn good control policies for various complex tasks, where embodied AI simulators play an essential role to facilitate relevant researchers. However, existing open-sourced simulators for surgical robot are still not sufficiently supporting human interactions through physical input devices, which further limits effective investigations on how human demonstrations would affect policy learning. In this paper, we study human-in-the-loop embodied intelligence with a new interactive simulation platform for surgical robot learning. Specifically, we establish our platform based on our previously released SurRoL simulator with several new features co-developed to allow high-quality human interaction via an input device. With these, we further propose to collect human demonstrations and imitate the action patterns to achieve more effective policy learning. We showcase the improvement of our simulation environment with the designed new features and tasks, and validate state-of-the-art reinforcement learning algorithms using the interactive environment. Promising results are obtained, with which we hope to pave the way for future research on surgical embodied intelligence. Our platform is released and will be continuously updated in the website: https://med-air.github.io/SurRoL/

Video-language pre-training has advanced the performance of various downstream video-language tasks. However, most previous methods directly inherit or adapt typical image-language pre-training paradigms to video-language pre-training, thus not fully exploiting the unique characteristic of video, i.e., temporal. In this paper, we propose a Hierarchical Temporal-Aware video-language pre-training framework, HiTeA, with two novel pre-training tasks for modeling cross-modal alignment between moments and texts as well as the temporal relations of video-text pairs. Specifically, we propose a cross-modal moment exploration task to explore moments in videos, which results in detailed video moment representation. Besides, the inherent temporal relations are captured by aligning video-text pairs as a whole in different time resolutions with multi-modal temporal relation exploration task. Furthermore, we introduce the shuffling test to evaluate the temporal reliance of datasets and video-language pre-training models. We achieve state-of-the-art results on 15 well-established video-language understanding and generation tasks, especially on temporal-oriented datasets (e.g., SSv2-Template and SSv2-Label) with 8.6% and 11.1% improvement respectively. HiTeA also demonstrates strong generalization ability when directly transferred to downstream tasks in a zero-shot manner. Models and demo will be available on ModelScope.

During X-ray computed tomography (CT) scanning, metallic implants carrying with patients often lead to adverse artifacts in the captured CT images and then impair the clinical treatment. Against this metal artifact reduction (MAR) task, the existing deep-learning-based methods have gained promising reconstruction performance. Nevertheless, there is still some room for further improvement of MAR performance and generalization ability, since some important prior knowledge underlying this specific task has not been fully exploited. Hereby, in this paper, we carefully analyze the characteristics of metal artifacts and propose an orientation-shared convolution representation strategy to adapt the physical prior structures of artifacts, i.e., rotationally symmetrical streaking patterns. The proposed method rationally adopts Fourier-series-expansion-based filter parametrization in artifact modeling, which can better separate artifacts from anatomical tissues and boost the model generalizability. Comprehensive experiments executed on synthesized and clinical datasets show the superiority of our method in detail preservation beyond the current representative MAR methods. Code will be available at \url{https://github.com/hongwang01/OSCNet}

Multilingual BERT (mBERT) has demonstrated considerable cross-lingual syntactic ability, whereby it enables effective zero-shot cross-lingual transfer of syntactic knowledge. The transfer is more successful between some languages, but it is not well understood what leads to this variation and whether it fairly reflects difference between languages. In this work, we investigate the distributions of grammatical relations induced from mBERT in the context of 24 typologically different languages. We demonstrate that the distance between the distributions of different languages is highly consistent with the syntactic difference in terms of linguistic formalisms. Such difference learnt via self-supervision plays a crucial role in the zero-shot transfer performance and can be predicted by variation in morphosyntactic properties between languages. These results suggest that mBERT properly encodes languages in a way consistent with linguistic diversity and provide insights into the mechanism of cross-lingual transfer.

Generative models have been widely applied to solve extractive tasks, where parts of the input is extracted to form the desired output, and achieved significant success. For example, in extractive question answering (QA), generative models have constantly yielded state-of-the-art results. In this work, we identify the issue of tokenization inconsistency that is commonly neglected in training these models. This issue damages the extractive nature of these tasks after the input and output are tokenized inconsistently by the tokenizer, and thus leads to performance drop as well as hallucination. We propose a simple yet effective fix to this issue and conduct a case study on extractive QA. We show that, with consistent tokenization, the model performs better in both in-domain and out-of-domain datasets, with a notable average of +1.7 F2 gain when a BART model is trained on SQuAD and evaluated on 8 QA datasets. Further, the model converges faster, and becomes less likely to generate out-of-context answers. With these findings, we would like to call for more attention on how tokenization should be done when solving extractive tasks and recommend applying consistent tokenization during training.

Decades of progress in simulation-based surrogate-assisted optimization and unprecedented growth in computational power have enabled researchers and practitioners to optimize previously intractable complex engineering problems. This paper investigates the possible benefit of a concurrent utilization of multiple simulation-based surrogate models to solve complex discrete optimization problems. To fulfill this, the so-called Self-Adaptive Multi-surrogate Assisted Efficient Global Optimization algorithm (SAMA-DiEGO), which features a two-stage online model management strategy, is proposed and further benchmarked on fifteen binary-encoded combinatorial and fifteen ordinal problems against several state-of-the-art non-surrogate or single surrogate assisted optimization algorithms. Our findings indicate that SAMA-DiEGO can rapidly converge to better solutions on a majority of the test problems, which shows the feasibility and advantage of using multiple surrogate models in optimizing discrete problems.

Although considerable progress has been obtained in neural network quantization for efficient inference, existing methods are not scalable to heterogeneous devices as one dedicated model needs to be trained, transmitted, and stored for one specific hardware setting, incurring considerable costs in model training and maintenance. In this paper, we study a new vertical-layered representation of neural network weights for encapsulating all quantized models into a single one. With this representation, we can theoretically achieve any precision network for on-demand service while only needing to train and maintain one model. To this end, we propose a simple once quantization-aware training (QAT) scheme for obtaining high-performance vertical-layered models. Our design incorporates a cascade downsampling mechanism which allows us to obtain multiple quantized networks from one full precision source model by progressively mapping the higher precision weights to their adjacent lower precision counterparts. Then, with networks of different bit-widths from one source model, multi-objective optimization is employed to train the shared source model weights such that they can be updated simultaneously, considering the performance of all networks. By doing this, the shared weights will be optimized to balance the performance of different quantized models, thus making the weights transferable among different bit widths. Experiments show that the proposed vertical-layered representation and developed once QAT scheme are effective in embodying multiple quantized networks into a single one and allow one-time training, and it delivers comparable performance as that of quantized models tailored to any specific bit-width. Code will be available.

Existing approaches for vision-and-language navigation (VLN) are mainly based on cross-modal reasoning over discrete views. However, this scheme may hamper an agent's spatial and numerical reasoning because of incomplete objects within a single view and duplicate observations across views. A potential solution is mapping discrete views into a unified birds's-eye view, which can aggregate partial and duplicate observations. Existing metric maps could achieve this goal, but they suffer from less expressive semantics (e.g. usually predefined labels) and limited map size, which weakens an agent's language grounding and long-term planning ability. Inspired by the robotics community, we introduce hybrid topo-metric maps into VLN, where a topological map is used for long-term planning and a metric map for short-term reasoning. Beyond mapping with more expressive deep features, we further design a pre-training framework via the hybrid map to learn language-informed map representations, which enhances cross-modal grounding and facilitates the final language-guided navigation goal. Extensive experiments demonstrate the effectiveness of the map-based route for VLN, and the proposed method sets the new state-of-the-art on three VLN benchmarks.

Crowd counting is usually handled in a density map regression fashion, which is supervised via a L2 loss between the predicted density map and ground truth. To effectively regulate models, various improved L2 loss functions have been proposed to find a better correspondence between predicted density and annotation positions. In this paper, we propose to predict the density map at one resolution but measure the density map at multiple resolutions. By maximizing the posterior probability in such a setting, we obtain a log-formed multi-resolution L2-difference loss, where the traditional single-resolution L2 loss is its particular case. We mathematically prove it is superior to a single-resolution L2 loss. Without bells and whistles, the proposed loss substantially improves several baselines and performs favorably compared to state-of-the-art methods on four crowd counting datasets, ShanghaiTech A & B, UCF-QNRF, and JHU-Crowd++.

Weakly supervised video anomaly detection aims to identify abnormal events in videos using only video-level labels. Recently, two-stage self-training methods have achieved significant improvements by self-generating pseudo labels and self-refining anomaly scores with these labels. As the pseudo labels play a crucial role, we propose an enhancement framework by exploiting completeness and uncertainty properties for effective self-training. Specifically, we first design a multi-head classification module (each head serves as a classifier) with a diversity loss to maximize the distribution differences of predicted pseudo labels across heads. This encourages the generated pseudo labels to cover as many abnormal events as possible. We then devise an iterative uncertainty pseudo label refinement strategy, which improves not only the initial pseudo labels but also the updated ones obtained by the desired classifier in the second stage. Extensive experimental results demonstrate the proposed method performs favorably against state-of-the-art approaches on the UCF-Crime, TAD, and XD-Violence benchmark datasets.