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Xiwu: A Basis Flexible and Learnable LLM for High Energy Physics
Apr 08, 2024
Large Language Models (LLMs) are undergoing a period of rapid updates and changes, with state-of-the-art (SOTA) model frequently being replaced. When applying LLMs to a specific scientific field, it's challenging to acquire unique domain knowledge while keeping the model itself advanced. To address this challenge, a sophisticated large language model system named as Xiwu has been developed, allowing you switch between the most advanced foundation models and quickly teach the model domain knowledge. In this work, we will report on the best practices for applying LLMs in the field of high-energy physics (HEP), including: a seed fission technology is proposed and some data collection and cleaning tools are developed to quickly obtain domain AI-Ready dataset; a just-in-time learning system is implemented based on the vector store technology; an on-the-fly fine-tuning system has been developed to facilitate rapid training under a specified foundation model. The results show that Xiwu can smoothly switch between foundation models such as LLaMA, Vicuna, ChatGLM and Grok-1. The trained Xiwu model is significantly outperformed the benchmark model on the HEP knowledge question-and-answering and code generation. This strategy significantly enhances the potential for growth of our model's performance, with the hope of surpassing GPT-4 as it evolves with the development of open-source models. This work provides a customized LLM for the field of HEP, while also offering references for applying LLM to other fields, the corresponding codes are available on Github.
Single PW takes a shortcut to compound PW in US imaging
Dec 15, 2023Reconstruction of ultrasound (US) images from radio-frequency data can be conceptualized as a linear inverse problem. Traditional deep learning approaches, which aim to improve the quality of US images by directly learning priors, often encounter challenges in generalization. Recently, diffusion-based generative models have received significant attention within the research community due to their robust performance in image reconstruction tasks. However, a limitation of these models is their inherent low speed in generating image samples from pure Gaussian noise progressively. In this study, we exploit the inherent similarity between the US images reconstructed from a single plane wave (PW) and PW compounding PWC). We hypothesize that a single PW can take a shortcut to reach the diffusion trajectory of PWC, removing the need to begin with Gaussian noise. By employing an advanced diffusion model, we demonstrate its effectiveness in US image reconstruction, achieving a substantial reduction in sampling steps. In-vivo experimental results indicate that our approach can reduce sampling steps by 60%, while preserving comparable performance metrics with the conventional diffusion model.
Fast Sampling generative model for Ultrasound image reconstruction
Dec 15, 2023Image reconstruction from radio-frequency data is pivotal in ultrafast plane wave ultrasound imaging. Unlike the conventional delay-and-sum (DAS) technique, which relies on somewhat imprecise assumptions, deep learning-based methods perform image reconstruction by training on paired data, leading to a notable enhancement in image quality. Nevertheless, these strategies often exhibit limited generalization capabilities. Recently, denoising diffusion models have become the preferred paradigm for image reconstruction tasks. However, their reliance on an iterative sampling procedure results in prolonged generation time. In this paper, we propose a novel sampling framework that concurrently enforces data consistency of ultrasound signals and data-driven priors. By leveraging the advanced diffusion model, the generation of high-quality images is substantially expedited. Experimental evaluations on an in-vivo dataset indicate that our approach with a single plane wave surpasses DAS with spatial coherent compounding of 75 plane waves.
Score-based Generative Models for Photoacoustic Image Reconstruction with Rotation Consistency Constraints
Jun 24, 2023
Photoacoustic tomography (PAT) is a newly emerged imaging modality which enables both high optical contrast and acoustic depth of penetration. Reconstructing images of photoacoustic tomography from limited amount of senser data is among one of the major challenges in photoacoustic imaging. Previous works based on deep learning were trained in supervised fashion, which directly map the input partially known sensor data to the ground truth reconstructed from full field of view. Recently, score-based generative models played an increasingly significant role in generative modeling. Leveraging this probabilistic model, we proposed Rotation Consistency Constrained Score-based Generative Model (RCC-SGM), which recovers the PAT images by iterative sampling between Langevin dynamics and a constraint term utilizing the rotation consistency between the images and the measurements. Our proposed method can generalize to different measurement processes (32.29 PSNR with 16 measurements under random sampling, whereas 28.50 for supervised counterpart), while supervised methods need to train on specific inverse mappings.
Cross-domain Unsupervised Reconstruction with Equivariance for Photoacoustic Computed Tomography
Jan 17, 2023
Accurate image reconstruction is crucial for photoacoustic (PA) computed tomography (PACT). Recently, deep learning has been used to reconstruct the PA image with a supervised scheme, which requires high-quality images as ground truth labels. In practice, there are inevitable trade-offs between cost and performance since the use of more channels is an expensive strategy to access more measurements. Here, we propose a cross-domain unsupervised reconstruction (CDUR) strategy with a pure transformer model, which overcomes the lack of ground truth labels from limited PA measurements. The proposed approach exploits the equivariance of PACT to achieve high performance with a smaller number of channels. We implement a self-supervised reconstruction in a model-based form. Meanwhile, we also leverage the self-supervision to enforce the measurement and image consistency on three partitions of measured PA data, by randomly masking different channels. We find that dynamically masking a high proportion of the channels, e.g., 80%, yields nontrivial self-supervisors in both image and signal domains, which decrease the multiplicity of the pseudo solution to efficiently reconstruct the image from fewer PA measurements with minimum error of the image. Experimental results on in-vivo PACT dataset of mice demonstrate the potential of our unsupervised framework. In addition, our method shows a high performance (0.83 structural similarity index (SSIM) in the extreme sparse case with 13 channels), which is close to that of supervised scheme (0.77 SSIM with 16 channels). On top of all the advantages, our method may be deployed on different trainable models in an end-to-end manner.
Kirin: A Quadruped Robot with High Payload Carrying Capability
Feb 21, 2022
The quadruped robot is a versatile mobile platform with potential ability for high payload carrying. However, most of the existing quadruped robots aim at high maneuverability, highly dynamic and agile locomotion. In spite of this, payload carrying is still an indispensable ability for the quadruped robots. Design of a quadruped robot with high payload capacity is yet deeply explored. In this study, a 50 kg electrically-actuated quadruped robot, Kirin, is presented to leverage the payload carrying capability. Kirin is an characterized with prismatic quasi-direct-drive (QDD) leg. This mechanism greatly augments the payload carrying capability. This study presents several design principles for the payload-carrying-oriented quadruped robots, including the mechanical design, actuator parameters selection, and locomotion control method. The theoretical analysis implies that the lifting task tends to be a bottleneck for the existing robots with the articulated knee joints. By using prismatic QDD leg, the payload carrying capability of Kirin is enhanced greatly. To demonstrate Kirin's payload carrying capability, in preliminary experiment, up to 125 kg payload lifting in static stance and 50 kg payload carrying in dynamic trotting are tested. Whole body compliance with payload carrying is also demonstrated.
A semi-automatic ultrasound image analysis system for the grading diagnosis of COVID-19 pneumonia
Nov 04, 2021
This paper proposes a semi-automatic system based on quantitative characterization of the specific image patterns in lung ultrasound (LUS) images, in order to assess the lung conditions of patients with COVID-19 pneumonia, as well as to differentiate between the severe / and no-severe cases. Specifically, four parameters are extracted from each LUS image, namely the thickness (TPL) and roughness (RPL) of the pleural line, and the accumulated with (AWBL) and acoustic coefficient (ACBL) of B lines. 27 patients are enrolled in this study, which are grouped into 13 moderate patients, 7 severe patients and 7 critical patients. Furthermore, the severe and critical patients are regarded as the severe cases, and the moderate patients are regarded as the non-severe cases. Biomarkers among different groups are compared. Each single biomarker and a classifier with all the biomarkers as input are utilized for the binary diagnosis of severe case and non-severe case, respectively. The classifier achieves the best classification performance among all the compared methods (area under the receiver operating characteristics curve = 0.93, sensitivity = 0.93, specificity = 0.85). The proposed image analysis system could be potentially applied to the grading and prognosis evaluation of patients with COVID-19 pneumonia.
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Aug 05, 2021
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the Center of Mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with Linear Quadratic Regulator (LQR) to bound the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs and slopes.
Maximize the Foot Clearance for a Hopping Robotic Leg Considering Motor Saturation
Jul 30, 2021
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control are two main methods to realize such a spring-like behaviour. The position control usually consumes the torque resources to ensure the position accuracy and compensate the tracking errors. In comparison, the force control strategy is able to maintain a high elasticity. Currently, the position and force control both leads to the discount of motor saturation ratio as well as the bandwidth of the control system, and thus attenuates the performance of the actuator. To augment the performance, this letter proposes a motor saturation strategy based on the force control to maximize the output torque of the actuator and realize the continuous hopping motion with natural dynamics. The proposed strategy is able to maximize the saturation ratio of motor and thus maximize the foot clearance of the single leg. The dynamics of the two-mass model is utilized to increase the force bandwidth and the performance of the actuator. A single leg with two degrees of freedom is designed as the experiment platform. The actuator consists of a powerful electric motor, a harmonic gear and encoder. The effectiveness of this method is verified through simulations and experiments using a robotic leg actuated by powerful high reduction ratio actuators.
Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance
Jul 29, 2021
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other subtasks such as supporting the far end of a long plate and pushing it upward to fit in the ceiling. In this study, a method that maps human muscle force to SRD for overhead task assistance is proposed. Our methodology is to utilize redundant DoFs such as the idle muscles in the leg to control the supporting force of the SRD. A sEMG device is worn on the operator's shank where muscle signals are measured, parsed, and transmitted to SRD for control. In the control aspect, we adopted stiffness control in the task space based on torque control at the joint level. We are motivated by the fact that humans can achieve daily manipulation merely through simple inherent compliance property in joint driven by muscles. We explore to estimate the force of some particular muscles in humans and control the SRD to imitate the behaviors of muscle and output supporting forces to accomplish the subtasks such as overhead supporting. The sEMG signals detected from human muscles are extracted, filtered, rectified, and parsed to estimate the muscle force. We use this force information as the intent of the operator for proper overhead supporting force. As one of the well-known compliance control methods, stiffness control is easy to achieve using a few of straightforward parameters such as stiffness and equilibrium point. Through tuning the stiffness and equilibrium point, the supporting force of SRD in task space can be easily controlled. The muscle force estimated by sEMG is mapped to the desired force in the task space of the SRD. The desired force is transferred into stiffness or equilibrium point to output the corresponding supporting force.