Glaucomatous optic neuropathy (GON) is a prevalent ocular disease that can lead to irreversible vision loss if not detected early and treated. The traditional diagnostic approach for GON involves a set of ophthalmic examinations, which are time-consuming and require a visit to an ophthalmologist. Recent deep learning models for automating GON detection from digital fundus images (DFI) have shown promise but often suffer from limited generalizability across different ethnicities, disease groups and examination settings. To address these limitations, we introduce GONet, a robust deep learning model developed using seven independent datasets, including over 119,000 DFIs with gold-standard annotations and from patients of diverse geographic backgrounds. GONet consists of a DINOv2 pre-trained self-supervised vision transformers fine-tuned using a multisource domain strategy. GONet demonstrated high out-of-distribution generalizability, with an AUC of 0.85-0.99 in target domains. GONet performance was similar or superior to state-of-the-art works and was significantly superior to the cup-to-disc ratio, by up to 21.6%. GONet is available at [URL provided on publication]. We also contribute a new dataset consisting of 768 DFI with GON labels as open access.

This work addresses the problem of learning approach-constrained data-driven grasp samplers. To this end, we propose GoNet: a generative grasp sampler that can constrain the grasp approach direction to a subset of SO(3). The key insight is to discretize SO(3) into a predefined number of bins and train GoNet to generate grasps whose approach directions are within those bins. At run-time, the bin aligning with the second largest principal component of the observed point cloud is selected. GoNet is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in an unconfined grasping experiment in simulation and on an unconfined and confined grasping experiment in the real world. The results demonstrate that GoNet achieves higher success-over-coverage in simulation and a 12%-18% higher success rate in real-world table-picking and shelf-picking tasks than the baseline.