Advances in AI and Robotics have accelerated significant initiatives in agriculture, particularly in the areas of robot navigation and 3D digital twin creation. A significant bottleneck impeding this progress is the critical lack of "in-the-wild" datasets that capture the full complexities of real farmland, including non-rigid motion from wind, drastic illumination variance, and morphological changes resulting from growth. This data gap fundamentally limits research on robust AI models for autonomous field navigation and scene-level dynamic 3D reconstruction. In this paper, we present AgriChrono, a modular robotic data collection platform and multi-modal dataset designed to capture these dynamic farmland conditions. Our platform integrates multiple sensors, enabling remote, time-synchronized acquisition of RGB, Depth, LiDAR, IMU, and Pose data for efficient and repeatable long-term data collection in real-world agricultural environments. We successfully collected 18TB of data over one month, documenting the entire growth cycle of Canola under diverse illumination conditions. We benchmark state-of-the-art 3D reconstruction methods on AgriChrono, revealing the profound challenge of reconstructing high-fidelity, dynamic non-rigid scenes in such farmland settings. This benchmark validates AgriChrono as a critical asset for advancing model generalization, and its public release is expected to significantly accelerate research and development in precision agriculture. The code and dataset are publicly available at: https://github.com/StructuresComp/agri-chrono

This research addresses the issue of missing structured data in dental records by extracting diagnostic information from unstructured text. The updated periodontology classification system's complexity has increased incomplete or missing structured diagnoses. To tackle this, we use advanced AI and NLP methods, leveraging GPT-4 to generate synthetic notes for fine-tuning a RoBERTa model. This significantly enhances the model's ability to understand medical and dental language. We evaluated the model using 120 randomly selected clinical notes from two datasets, demonstrating its improved diagnostic extraction accuracy. The results showed high accuracy in diagnosing periodontal status, stage, and grade, with Site 1 scoring 0.99 and Site 2 scoring 0.98. In the subtype category, Site 2 achieved perfect scores, outperforming Site 1. This method enhances extraction accuracy and broadens its use across dental contexts. The study underscores AI and NLP's transformative impact on healthcare delivery and management. Integrating AI and NLP technologies enhances documentation and simplifies administrative tasks by precisely extracting complex clinical information. This approach effectively addresses challenges in dental diagnostics. Using synthetic training data from LLMs optimizes the training process, improving accuracy and efficiency in identifying periodontal diagnoses from clinical notes. This innovative method holds promise for broader healthcare applications, potentially improving patient care quality.

Spinal cord injury (SCI) is a devastating incidence leading to permanent paralysis and loss of sensory-motor functions potentially resulting in the formation of lesions within the spinal cord. Imaging biomarkers obtained from magnetic resonance imaging (MRI) scans can predict the functional recovery of individuals with SCI and help choose the optimal treatment strategy. Currently, most studies employ manual quantification of these MRI-derived biomarkers, which is a subjective and tedious task. In this work, we propose (i) a universal tool for the automatic segmentation of intramedullary SCI lesions, dubbed SCIsegV2, and (ii) a method to automatically compute the width of the tissue bridges from the segmented lesion. Tissue bridges represent the spared spinal tissue adjacent to the lesion, which is associated with functional recovery in SCI patients. The tool was trained and validated on a heterogeneous dataset from 7 sites comprising patients from different SCI phases (acute, sub-acute, and chronic) and etiologies (traumatic SCI, ischemic SCI, and degenerative cervical myelopathy). Tissue bridges quantified automatically did not significantly differ from those computed manually, suggesting that the proposed automatic tool can be used to derive relevant MRI biomarkers. SCIsegV2 and the automatic tissue bridges computation are open-source and available in Spinal Cord Toolbox (v6.4 and above) via the sct_deepseg -task seg_sc_lesion_t2w_sci and sct_analyze_lesion functions, respectively. Keywords: Spinal Cord Injury Segmentation MRI Deep Learning Tissue Bridges these authors contributed equally to this work joint senior authors arXiv:2407.17265v1

To enable a mobile manipulator to perform human tasks from a single teaching demonstration is vital to flexible manufacturing. We call our proposed method MMPA (Mobile Manipulator Process Automation with One-shot Teaching). Currently, there is no effective and robust MMPA framework which is not influenced by harsh industrial environments and the mobile base's parking precision. The proposed MMPA framework consists of two stages: collecting data (mobile base's location, environment information, end-effector's path) in the teaching stage for robot learning; letting the end-effector repeat the nearly same path as the reference path in the world frame to reproduce the work in the automation stage. More specifically, in the automation stage, the robot navigates to the specified location without the need of a precise parking. Then, based on colored point cloud registration, the proposed IPE (Iterative Pose Estimation by Eye & Hand) algorithm could estimate the accurate 6D relative parking pose of the robot arm base without the need of any marker. Finally, the robot could learn the error compensation from the parking pose's bias to modify the end-effector's path to make it repeat a nearly same path in the world coordinate system as recorded in the teaching stage. Hundreds of trials have been conducted with a real mobile manipulator to show the superior robustness of the system and the accuracy of the process automation regardless of the harsh industrial conditions and parking precision. For the released code, please contact marketing@amigaga.com

This dissertation focuses on modern causal inference under uncertainty and data restrictions, with applications to neoadjuvant clinical trials, distributed data networks, and robust individualized decision making. In the first project, we propose a method under the principal stratification framework to identify and estimate the average treatment effects on a binary outcome, conditional on the counterfactual status of a post-treatment intermediate response. Under mild assumptions, the treatment effect of interest can be identified. We extend the approach to address censored outcome data. The proposed method is applied to a neoadjuvant clinical trial and its performance is evaluated via simulation studies. In the second project, we propose a tree-based model averaging approach to improve the estimation accuracy of conditional average treatment effects at a target site by leveraging models derived from other potentially heterogeneous sites, without them sharing subject-level data. The performance of this approach is demonstrated by a study of the causal effects of oxygen therapy on hospital survival rates and backed up by comprehensive simulations. In the third project, we propose a robust individualized decision learning framework with sensitive variables to improve the worst-case outcomes of individuals caused by sensitive variables that are unavailable at the time of decision. Unlike most existing work that uses mean-optimal objectives, we propose a robust learning framework by finding a newly defined quantile- or infimum-optimal decision rule. From a causal perspective, we also generalize the classic notion of (average) fairness to conditional fairness for individual subjects. The reliable performance of the proposed method is demonstrated through synthetic experiments and three real-data applications.

Federated learning is an appealing framework for analyzing sensitive data from distributed health data networks due to its protection of data privacy. Under this framework, data partners at local sites collaboratively build an analytical model under the orchestration of a coordinating site, while keeping the data decentralized. However, existing federated learning methods mainly assume data across sites are homogeneous samples of the global population, hence failing to properly account for the extra variability across sites in estimation and inference. Drawing on a multi-hospital electronic health records network, we develop an efficient and interpretable tree-based ensemble of personalized treatment effect estimators to join results across hospital sites, while actively modeling for the heterogeneity in data sources through site partitioning. The efficiency of our method is demonstrated by a study of causal effects of oxygen saturation on hospital mortality and backed up by comprehensive numerical results.

We address the problem of personalizing query completion in a digital commerce setting, in which the bounce rate is typically high and recurring users are rare. We focus on in-session personalization and improve a standard noisy channel model by injecting dense vectors computed from product images at query time. We argue that image-based personalization displays several advantages over alternative proposals (from data availability to business scalability), and provide quantitative evidence and qualitative support on the effectiveness of the proposed methods. Finally, we show how a shared vector space between similar shops can be used to improve the experience of users browsing across sites, opening up the possibility of applying zero-shot unsupervised personalization to increase conversions. This will prove to be particularly relevant to retail groups that manage multiple brands and/or websites and to multi-tenant SaaS providers that serve multiple clients in the same space.

Theories of object recognition often assume that only one representation scheme is used within one visual-processing pathway. Versatility of the visual system comes from having multiple visual-processing pathways, each specialized in a different category of objects. We propose a theoretically simpler alternative, capable of explaining the same set of data and more. A single primary visual-processing pathway, loosely modular, is assumed. Memory modules are attached to sites along this pathway.

Theories of object recognition often assume that only one representation scheme is used within one visual-processing pathway. Versatility of the visual system comes from having multiple visual-processing pathways, each specialized in a different category of objects. We propose a theoretically simpler alternative, capable of explaining the same set of data and more. A single primary visual-processing pathway, loosely modular, is assumed. Memory modules are attached to sites along this pathway.

Theories of object recognition often assume that only one representation schemeis used within one visual-processing pathway. Versatility of the visual system comes from having multiple visual-processing pathways, each specialized in a different category of objects. We propose a theoretically simpler alternative, capable of explaining the same set of data and more. A single primary visual-processing pathway, loosely modular, is assumed. Memory modules are attached to sites along this pathway.