Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset and detection framework are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector.

Large language models (LLMs) have emerged as powerful tools with transformative potential across numerous domains, including healthcare and medicine. In the medical domain, LLMs hold promise for tasks ranging from clinical decision support to patient education. However, evaluating the performance of LLMs in medical contexts presents unique challenges due to the complex and critical nature of medical information. This paper provides a comprehensive overview of the landscape of medical LLM evaluation, synthesizing insights from existing studies and highlighting evaluation data sources, task scenarios, and evaluation methods. Additionally, it identifies key challenges and opportunities in medical LLM evaluation, emphasizing the need for continued research and innovation to ensure the responsible integration of LLMs into clinical practice.

Evaluating generative models is one of the most challenging tasks to achieve (Naeem et al., 2020). This kind of challenge is largely absent in discriminative models, where evaluation primarily involves comparison with ground truth data. However, for generative models, evaluation involves quantifying the validity between real samples and those generated by the model. A common method for evaluating generative models is through human judgment metrics, such as Mean Opinion Scores (MOS) (Streijl et al., 2016). However, this type of evaluation assumes a uniform perception among users regarding what constitutes ideal and realistic generation, which is often not the case. For this reason, generative models require quantitative evaluation based on measures of validity between real and generated samples. This similarity is quantified on two dimensions: fidelity and diversity. On the one hand, fidelity is the measure of similarity between real and generated spaces on the marginal distribution scale. On the other hand, diversity is the measure of how varied a set of samples is, indicating the extent to which the diversity of the generated set in generative models aligns with the diversity of the real set.

The ever-increasing use of generative models in various fields where tabular data is used highlights the need for robust and standardized validation metrics to assess the similarity between real and synthetic data. Current methods lack a unified framework and rely on diverse and often inconclusive statistical measures. Divergences, which quantify discrepancies between data distributions, offer a promising avenue for validation. However, traditional approaches calculate divergences independently for each feature due to the complexity of joint distribution modeling. This paper addresses this challenge by proposing a novel approach that uses divergence estimation to overcome the limitations of marginal comparisons. Our core contribution lies in applying a divergence estimator to build a validation metric considering the joint distribution of real and synthetic data. We leverage a probabilistic classifier to approximate the density ratio between datasets, allowing the capture of complex relationships. We specifically calculate two divergences: the well-known Kullback-Leibler (KL) divergence and the Jensen-Shannon (JS) divergence. KL divergence offers an established use in the field, while JS divergence is symmetric and bounded, providing a reliable metric. The efficacy of this approach is demonstrated through a series of experiments with varying distribution complexities. The initial phase involves comparing estimated divergences with analytical solutions for simple distributions, setting a benchmark for accuracy. Finally, we validate our method on a real-world dataset and its corresponding synthetic counterpart, showcasing its effectiveness in practical applications. This research offers a significant contribution with applicability beyond tabular data and the potential to improve synthetic data validation in various fields.

The proliferation of edge devices has brought Federated Learning (FL) to the forefront as a promising paradigm for decentralized and collaborative model training while preserving the privacy of clients' data. However, FL struggles with a significant performance reduction and poor convergence when confronted with Non-Independent and Identically Distributed (Non-IID) data distributions among participating clients. While previous efforts, such as client drift mitigation and advanced server-side model fusion techniques, have shown some success in addressing this challenge, they often overlook the root cause of the performance reduction - the absence of identical data accurately mirroring the global data distribution among clients. In this paper, we introduce Gen-FedSD, a novel approach that harnesses the powerful capability of state-of-the-art text-to-image foundation models to bridge the significant Non-IID performance gaps in FL. In Gen-FedSD, each client constructs textual prompts for each class label and leverages an off-the-shelf state-of-the-art pre-trained Stable Diffusion model to synthesize high-quality data samples. The generated synthetic data is tailored to each client's unique local data gaps and distribution disparities, effectively making the final augmented local data IID. Through extensive experimentation, we demonstrate that Gen-FedSD achieves state-of-the-art performance and significant communication cost savings across various datasets and Non-IID settings.

Over the course of the recent decade, tremendous progress has been made in the areas of machine learning and natural language processing, which opened up vast areas of potential application use cases, including hiring and human resource management. We review the use cases for text analytics in the realm of human resources/personnel management, including actually realized as well as potential but not yet implemented ones, and we analyze the opportunities and risks of these.

With the rise of text-to-image (T2I) generative AI models reaching wide audiences, it is critical to evaluate model robustness against non-obvious attacks to mitigate the generation of offensive images. By focusing on ``implicitly adversarial'' prompts (those that trigger T2I models to generate unsafe images for non-obvious reasons), we isolate a set of difficult safety issues that human creativity is well-suited to uncover. To this end, we built the Adversarial Nibbler Challenge, a red-teaming methodology for crowdsourcing a diverse set of implicitly adversarial prompts. We have assembled a suite of state-of-the-art T2I models, employed a simple user interface to identify and annotate harms, and engaged diverse populations to capture long-tail safety issues that may be overlooked in standard testing. The challenge is run in consecutive rounds to enable a sustained discovery and analysis of safety pitfalls in T2I models. In this paper, we present an in-depth account of our methodology, a systematic study of novel attack strategies and discussion of safety failures revealed by challenge participants. We also release a companion visualization tool for easy exploration and derivation of insights from the dataset. The first challenge round resulted in over 10k prompt-image pairs with machine annotations for safety. A subset of 1.5k samples contains rich human annotations of harm types and attack styles. We find that 14% of images that humans consider harmful are mislabeled as ``safe'' by machines. We have identified new attack strategies that highlight the complexity of ensuring T2I model robustness. Our findings emphasize the necessity of continual auditing and adaptation as new vulnerabilities emerge. We are confident that this work will enable proactive, iterative safety assessments and promote responsible development of T2I models.

Sign Language Production (SLP) is a challenging task, given the limited resources available and the inherent diversity within sign data. As a result, previous works have suffered from the problem of regression to the mean, leading to under-articulated and incomprehensible signing. In this paper, we propose using dictionary examples and a learnt codebook of facial expressions to create expressive sign language sequences. However, simply concatenating signs and adding the face creates robotic and unnatural sequences. To address this we present a 7-step approach to effectively stitch sequences together. First, by normalizing each sign into a canonical pose, cropping, and stitching we create a continuous sequence. Then, by applying filtering in the frequency domain and resampling each sign, we create cohesive natural sequences that mimic the prosody found in the original data. We leverage a SignGAN model to map the output to a photo-realistic signer and present a complete Text-to-Sign (T2S) SLP pipeline. Our evaluation demonstrates the effectiveness of the approach, showcasing state-of-the-art performance across all datasets. Finally, a user evaluation shows our approach outperforms the baseline model and is capable of producing realistic sign language sequences.

Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical system that involves both discrete and continuous decision variables. However, even the most advanced MIQP solvers can hardly account for the challenging requirements of automotive embedded platforms. Thus, we use machine learning to simplify and hence speed up optimization. Our work builds on recent ideas for solving MIQPs in real-time by training a neural network to predict the optimal values of integer variables and solving the remaining problem by online quadratic programming. Specifically, we propose a recurrent permutation equivariant deep set that is particularly suited for imitating MIQPs that involve many obstacles, which is often the major source of computational burden in motion planning problems. Our framework comprises also a feasibility projector that corrects infeasible predictions of integer variables and considerably increases the likelihood of computing a collision-free trajectory. We evaluate the performance, safety and real-time feasibility of decision-making for autonomous driving using the proposed approach on realistic multi-lane traffic scenarios with interactive agents in SUMO simulations.

In recent years, more and more works have appeared devoted to the analog (hardware) implementation of artificial neural networks, in which neurons and the connection between them are based not on computer calculations, but on physical principles. Such networks offer improved energy efficiency and, in some cases, scalability, but may be susceptible to internal noise. This paper studies the influence of noise on the functioning of recurrent networks using the example of trained echo state networks (ESNs). The most common reservoir connection matrices were chosen as various topologies of ESNs: random uniform and band matrices with different connectivity. White Gaussian noise was chosen as the influence, and according to the way of its introducing it was additive or multiplicative, as well as correlated or uncorrelated. In the paper, we show that the propagation of noise in reservoir is mainly controlled by the statistical properties of the output connection matrix, namely the mean and the mean square. Depending on these values, more correlated or uncorrelated noise accumulates in the network. We also show that there are conditions under which even noise with an intensity of $10^{-20}$ is already enough to completely lose the useful signal. In the article we show which types of noise are most critical for networks with different activation functions (hyperbolic tangent, sigmoid and linear) and if the network is self-closed.