Deep learning-based robotic cloth manipulation applications: systematic review, challenges and opportunities for physical AI.

Emotion detection, hence, is an important step toward making human-computer interaction a more enhanced process, where systems are made capable of identifying and responding to the emotional state of users. In fact, multimodal emotion detection systems in which both auditory and visual information are fused are emerging, and these approaches toward expressive emotional states are complementary and robust. Multimodal systems enhance the quality of interacting and, through many applications, can diagnose emotional disorders, monitor automotive safety, and improve human-robot interactions. In nature, the high-dimensional space and dynamic threats have resulted in obtaining low accuracy and high computational cost in applying the traditional models based on single-modality data. On the other hand, multimodal systems explore the synergy between audio and visual data, giving better performance and higher accuracy in inferring subtle emotional expressions. The latest improvement was done on these systems using recent advancements in transfer learning and deep learning techniques.That being said, this research Proposal devises a multimodal emotion recognition system integrating speech and face information through transfer learning for improved accuracy and robustness. Serving this purpose, the objectives of this research entail the effective comparison among different transfer-learning strategies, including the impact of pre-trained models in speech-based emotion recognition, and to introduce the role of voice activity detection in the process. Advanced neural network architectures like Spatial Transformer Networks and bidirectional LSTM in facial emotion recognition will also be tested. Early and late fusion strategies will also be used to find the best strategy for combining speech and facial data.This research will target several challenges that involve the complexity of data, balancing of the model performance-robustness balance, computational limitations, and standardization of evaluations in developing a working and robust emotion recognition system to enhance digital interaction and apply in practical areas. The goal is to create a system that oversteps the limitation of single-modality models through state-of-the-art advances in deep learning, as well as front-line improvements in transfer learning, in the manner of emotion detection performance.

Recent advancements in deep learning techniques tailored for autonomous driving in Indian road conditions are crucial for revolutionizing transportation systems. Indian roads present unique challenges, including unpredictable traffic patterns, diverse road infrastructures, and challenging weather conditions. Deep learning is pivotal in addressing these challenges, focusing on perception, decision-making, and control. Various architectures, including Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), and Deep Reinforcement Learning (DRL), are analyzed for their efficacy in autonomous driving. Sensor fusion techniques enhance perception capabilities, such as lidar, radar, and camera data integration. Additionally, advancements in semantic segmentation and object detection algorithms improve scene understanding and obstacle recognition. Collaborative efforts between academia, industry, and government agencies are essential for accelerating the deployment of autonomous driving technology in Indian road conditions. In conclusion, leveraging cutting-edge deep learning methodologies enables safe and efficient navigation of autonomous vehicles, ushering in a transformative future in transportation systems.

Quantization-aware training for low precision photonic neural networks

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control based on the states at the current time step. However, future robots will also be required to solve tasks utilizing their memory obtained by experience in complicated environments (e.g., when the robot is asked to find a previously used object on a shelf). In such a situation, simple deep imitation learning may fail because of distractions caused by complicated environments. We propose that gaze prediction from sequential visual input enables the robot to perform a manipulation task that requires memory. The proposed algorithm uses a Transformer-based self-attention architecture for the gaze estimation based on sequential data to implement memory. The proposed method was evaluated with a real robot multi-object manipulation task that requires memory of the previous states.

This paper presents a comparative study of analytical and deep learning (DL) approaches for solving the inverse kinematics (IK) problem in high-degree-of-freedom (DOF) robotic manipulators, focusing on the Lunar Exploration Rover System (LERS). The IK problem, central to robotic motion control, is traditionally solved using analytical methods, but recent advances in deep learning provide new opportunities to enhance precision and efficiency. The study evaluates the performance of DL Neural Networks, in addressing the complexities of high-DOF manipulators. A detailed comparison is conducted between traditional geometric solutions and DL-based models, with an emphasis on robustness and computational efficiency under noisy conditions. The results demonstrate the potential of DL methods to outperform traditional techniques in high-DOF environments, paving the way for future advancements in autonomous robotic systems. In addition to the IK study, the paper discusses the design and integration of the LERS robotic system, which plays a critical role in advancing autonomous lunar exploration under the ARTEMIS program. As part of this international collaboration involving NASA, the Canadian Space Agency (CSA), the European Space Agency (ESA), and the Japan Aerospace Exploration Agency (JAXA), LERS is tasked with supporting both crewed and unmanned missions on the Moon. LERS is designed to perform precise robotic manipulation tasks such as deploying infrastructure, gathering scientific data, and managing lunar resources, all of which are vital for future missions to Mars. The implementation of advanced IK solutions is key to enabling the precise control of LERS’s robotic arms, allowing for the successful execution of complex tasks such as assembling habitats, handling materials, and conducting scientific analyses on the lunar surface. This work highlights the importance of IK in ensuring that robotic systems like LERS can operate with the precision needed for the next generation of lunar missions.

This article presents a literature review of the past five years of studies using Deep Reinforcement Learning (DRL) and Inverse Reinforcement Learning (IRL) in robotic manipulation tasks. The reviewed articles are examined in various categories, including DRL and IRL for perception, assembly, manipulation with uncertain rewards, multitasking, transfer learning, multimodal, and Human-Robot Interaction (HRI). The articles are summarized in terms of the main contributions, methods, challenges, and highlights of the latest and relevant studies using DRL and IRL for robotic manipulation. Additionally, summary tables regarding the problem and solution are presented. The literature review then focuses on the concepts of trustworthy AI, interpretable AI, and explainable AI (XAI) in the context of robotic manipulation. Moreover, this review provides a resource for future research on DRL/IRL in trustworthy robotic manipulation.

Breast cancer is the most prevalent cancer globally and presents a significant threat to human health. The low survival rate for advanced stages highlights the importance of early and accurate diagnosis. Pathology images, providing insights into cancer's cellular aggressiveness, are crucial for breast cancer diagnosis. Advances in deep learning have transformed automated medical image diagnosis. However, traditional deep learning methods, reliant on large labeled datasets, face challenges with the typically small size of medical image datasets. To overcome this, our study combines deep transfer learning (DTL) with convolutional neural networks(CNN). We utilize and enhance a ResNet50 model pretrained on a large dataset. Additionally, we apply four different deep transfer learning methods to feature extraction and classification of the BreakHis dataset, aiming to determine if breast cancer is benign or malignant. Ultimately, our system achieved the best average accuracy rates under four different magnifications: 98.57%, 96.83%, 97.76%, and 97.16%. These results demonstrate the accuracy and potential of deep transfer learning in classifying breast cancer histopathological images and its promising application in tumor prediction.

The rapid growth of genomic data presents new challenges and opportunities in the field of bioinformatics. Deep learning has emerged as a powerful tool for analyzing large and complex genomic datasets, offering unprecedented capabilities for identifying patterns, predicting gene functions, and understanding genetic variations. This article explores the latest advancements in deep learning techniques applied to genomic data analysis. It discusses key approaches such as convolutional neural networks (CNNs), recurrent neural networks (RNNs), and autoencoders, and their applications in various aspects of genomics, including gene expression analysis, variant calling, and drug discovery. The article also highlights the integration of deep learning with other emerging technologies, such as CRISPR, and its potential to revolutionize personalized medicine and genetic research..

Cloth folding stands as an intricate subject in robot manipulation, requiring robots to fold diverse fabrics into different configurations according to human intentions. Previous work in this area falls into three primary categories: imitation learning, reinforcement learning, and geometric model-based planning methods. While each paradigm has its merits, they generally lack inherent multi-step reasoning ability and struggle to generalize to novel cloth appearances and tasks. To tackle these problems, our key insight is incorporating the common sense reasoning and generalization abilities of Large Language Models (LLMs) into cloth manipulation, while addressing the limitations of LLMs in manipulating deformable objects, which involves an effective grounding module and rational planning hierarchy. To this end, we present PolyFold, a novel language-conditioned bimanual cloth folding framework that leverages the parameterized polygon model as an effective abstraction and grounding module for cloth representation. Moreover, PolyFold enables LLMs to infer an intermediate-level action—specifically, the symmetrical fold line, while delegating the pick-and-place calculations to a fold-line-guided downstream policy, which is learned through self-supervision using random data. Experiments on 70 cloth folding tasks and 4 cloth types show that PolyFold excels in zero-shot generalization and inherent multi-step reasoning capability, while also operating in a sample-efficient expert-demonstration-free manner, surpassing previous SOTA vision-conditioned and language-conditioned methods. Our method can also be directly deployed in real-world scenarios. Videos, code and appendix are available at our project webpage: https://sites.google.com/view/polyfold.

Advancements in deep learning technologies and an increase in medical data have enhanced the accuracy of disease diagnosis and treatment strategies. Notably, significant progress has been made in the use of deep learning-based time-series prediction models for short-term disease onset prediction and analysis of important features. However, research on explainable deep learning for long-term disease progression, such as cancer and chronic diseases, still faces challenges. The difficulty in estimating explainable gradual disease progression from observable patient test data is a key factor. To address this issue, we propose a new approach called the “deep state-space analysis framework.” This framework utilizes sequentially obtained electronic health records (EHRs) to estimate and visualize temporal changes in the latent states of patients related to disease progression. It enables the clustering of latent patient states according to the severity of disease progression and identifies key factors leading to a poor prognosis with medication. To validate our framework, a detailed analysis of data from 12,695 patients with cancer was conducted. The estimated transitions of the latent states capture the clinical status of the patients and their continuous temporal changes. Furthermore, anemia was identified as a poor prognostic factor during state transitions in patients with cancer. Significant features were also confirmed, such as immune cell abnormalities, which are poor prognostic factors in patients treated with Nivolumab, Osimertinib, and Afatinib. This technological innovation deepens our understanding of disease progression and supports early treatment adjustments, prognostic evaluations, and the formulation of optimal long-term strategies. With the advancements in deep learning, its application in healthcare has even greater potential.

Speaker Identification is a problem that consists in discovering the identity of an individual from the captured speech signal and it is still an open problem. Recent advances in deep learning in combination with spectrograms encouraged us to propose the use of entropygrams in combination with convolutional neural networks. We extract the entropygrams of specific words uttered by the individual whose identity needs to be found among those known to the system. An entropygram is an image that shows how the information contentained in the speech signal distributes along with frequency and how such distribution evolves in time. By extracting the entropygram from the speech signal we effectively transform the problem into an image recognition issue, and Convolutional Neural Networks (CNN) are known to be very useful for image recognition. In our experiments we used a collection of 21 young mexican speakers from both genders and confirmed our hypothesis that entropygrams can successfully be used instead of spectrograms for speaker identification using CNN. We also experimented with noisy speech and found that entropygrams outperform spectrograms as images that better represent speakers to be identified using CNN.

Deep learning belongs to the field of artificial intelligence, where machines perform tasks that typically require some kind of human intelligence. Deep learning tries to achieve this by drawing inspiration from the learning of a human brain. Similar to the basic structure of a brain, which consists of (billions of) neurons and connections between them, a deep learning algorithm consists of an artificial neural network, which resembles the biological brain structure. Mimicking the learning process of humans with their senses, deep learning networks are fed with (sensory) data, like texts, images, videos or sounds. These networks outperform the state-of-the-art methods in different tasks and, because of this, the whole field saw an exponential growth during the last years. This growth resulted in way over 10,000 publications per year in the last years. For example, the search engine PubMed alone, which covers only a sub-set of all publications in the medical field, provides already over 11,000 results in Q3 2020 for the search term ‘deep learning’, and around 90% of these results are from the last three years. Consequently, a complete overview over the field of deep learning is already impossible to obtain and, in the near future, it will potentially become difficult to obtain an overview over a subfield. However, there are several review articles about deep learning, which are focused on specific scientific fields or applications, for example deep learning advances in computer vision or in specific tasks like object detection. With these surveys as a foundation, the aim of this contribution is to provide a first high-level, categorized meta-survey of selected reviews on deep learning across different scientific disciplines and outline the research impact that they already have during a short period of time. The categories (computer vision, language processing, medical informatics and additional works) have been chosen according to the underlying data sources (image, language, medical, mixed). In addition, we review the common architectures, methods, pros, cons, evaluations, challenges and future directions for every sub-category.

Accurate prostate volume estimation is crucial for effective prostate disease management. Ultrasound (US) imaging, particularly transrectal ultrasound, offers a cost-effective and rapid assessment. However, US images often suffer from artifacts and poor contrast, making prostate volume estimation challenging. This review explores recent advancements in deep learning (DL) techniques for automatic prostate segmentation in US images as a primary step toward prostate volume estimation. We examine various DL architectures, including traditional U-Net modifications and innovative designs incorporating residual connections, multi-directional image data, and attention mechanisms. Additionally, we discuss pre-processing methods to enhance image quality, the integration of shape information, and strategies to improve the consistency and robustness of DL models. The effectiveness of these techniques is evaluated through metrics such as the Dice Similarity Coefficient, Jaccard Index, and Hausdorff Distance. The review highlights the potential of DL in improving prostate volume estimation accuracy and reducing clinical workload while also identifying areas for future research to enhance model performance and generalizability.

The integration of IDS and Internet of Things (IoT) with deep learning plays a significant role in safety. Security has a strong role to play. Application of the IoT network decreases the time complexity and resources. In the traditional intrusion detection systems (IDS), this research work implements the cutting-edge methodologies in the IoT environment. This research is based on analysis, conception, testing and execution. Detection of intrusions can be performed by using the advanced deep learning system and multiagent. The NSL-KDD dataset is used to test the IoT system. The IoT system is used to test the IoT system. In order to detect attacks from intruders of transport layer, efficiency result rely on advanced deep learning idea. In order to increase the system performance, multi -agent algorithms could be employed to train communications agencies and to optimize the feedback training process. Advanced deep learning techniques such as CNN will be researched to boost system performance. The testing part an IoT includes data simulator which will be used to generate in continuous of research work finding with deep learning algorithms of suitable IDS in IoT network environment of current scenario without time complexity.

In the domain of image processing, deep learning has assumed the position of the spearhead of innovation, creating revolutionary changes in numerous fields, such as image categorization, object recognition, and image generation. This white paper aims at developing a more detailed overview of the modern deep learning methods which are primarily designed for image processing. Analyzing the essential aspects of CNNs, GANs, and RNNs we wish to reveal innovative achievements in this area. In this white paper, it highlights a broad variety of domains, where these deep learning techniques have demonstrated remarkable progress. In the field of medical imaging, where CNNs help in the diagnosis and prognosis of the disease, to satellite imagery analysis, where GANs improve the generation of synthetic realistic data, and computer vision, where RNNs allow for better video analysis, deep learning is redefining the limits of image processing. Development should also be highlighted as an issue that the integration of deep learning into the image processing pipeline may bring along with it, including data accessibility, model interpretability, and computing resources. Accordingly, acknowledging such issues and staying updated with new trends, researchers and practitioners will be able to fully utilize deep learning and use it to solve complex image processing problems and carry out innovation in many different spheres of life. Deep learning is here to stay at the cutting edge of image processing, transforming our abilities and perspectives in this ever - changing discipline.