Doubly Robust Estimation under Covariate-Induced Dependent Left Truncation

In prevalent cohort studies with follow-up, the time-to-event outcome is subject to left truncation leading to selection bias. For estimation of the distribution of time-to-event, conventional methods adjusting for left truncation tend to rely on the (quasi-)independence assumption that the truncation time and the event time are "independent" on the observed region. This assumption is violated when there is dependence between the truncation time and the event time possibly induced by measured covariates. Inverse probability of truncation weighting leveraging covariate information can be used in this case, but it is sensitive to misspecification of the truncation model. In this work, we apply the semiparametric theory to find the efficient influence curve of an expected (arbitrarily transformed) survival time in the presence of covariate-induced dependent left truncation. We then use it to construct estimators that are shown to enjoy double-robustness properties. Our work represents the first attempt to construct doubly robust estimators in the presence of left truncation, which does not fall under the established framework of coarsened data where doubly robust approaches are developed. We provide technical conditions for the asymptotic properties that appear to not have been carefully examined in the literature for time-to-event data, and study the estimators via extensive simulation. We apply the estimators to two data sets from practice, with different right-censoring patterns

3D Random Occlusion and Multi-Layer Projection for Deep Multi-Camera Pedestrian Localization

Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due to the lack of annotated training samples in existing multi-view datasets, which increases the risk of overfitting. To address this problem, a data augmentation method is proposed to randomly generate 3D cylinder occlusions, on the ground plane, which are of the average size of pedestrians and projected to multiple views, to relieve the impact of overfitting in the training. Moreover, the feature map of each view is projected to multiple parallel planes at different heights, by using homographies, which allows the CNNs to fully utilize the features across the height of each pedestrian to infer the locations of pedestrians on the ground plane. The proposed 3DROM method has a greatly improved performance in comparison with the state-of-the-art deep-learning based methods for multi-view pedestrian detection

Unleashing the Power of Pre-trained Language Models for Offline Reinforcement Learning

Offline reinforcement learning (RL) aims to find a near-optimal policy using pre-collected datasets. In real-world scenarios, data collection could be costly and risky; therefore, offline RL becomes particularly challenging when the in-domain data is limited. Given recent advances in Large Language Models (LLMs) and their few-shot learning prowess, this paper introduces $\textbf{La}$nguage Models for $\textbf{Mo}$tion Control ($\textbf{LaMo}$), a general framework based on Decision Transformers to effectively use pre-trained Language Models (LMs) for offline RL. Our framework highlights four crucial components: (1) Initializing Decision Transformers with sequentially pre-trained LMs, (2) employing the LoRA fine-tuning method, in contrast to full-weight fine-tuning, to combine the pre-trained knowledge from LMs and in-domain knowledge effectively, (3) using the non-linear MLP transformation instead of linear projections, to generate embeddings, and (4) integrating an auxiliary language prediction loss during fine-tuning to stabilize the LMs and retain their original abilities on languages. Empirical results indicate $\textbf{LaMo}$ achieves state-of-the-art performance in sparse-reward tasks and closes the gap between value-based offline RL methods and decision transformers in dense-reward tasks. In particular, our method demonstrates superior performance in scenarios with limited data samples.Comment: 24 pages, 16 table

H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation

Human hands possess remarkable dexterity and have long served as a source of inspiration for robotic manipulation. In this work, we propose a human $\textbf{H}$and$\textbf{-In}$formed visual representation learning framework to solve difficult $\textbf{Dex}$terous manipulation tasks ($\textbf{H-InDex}$) with reinforcement learning. Our framework consists of three stages: (i) pre-training representations with 3D human hand pose estimation, (ii) offline adapting representations with self-supervised keypoint detection, and (iii) reinforcement learning with exponential moving average BatchNorm. The last two stages only modify $0.36\%$ parameters of the pre-trained representation in total, ensuring the knowledge from pre-training is maintained to the full extent. We empirically study 12 challenging dexterous manipulation tasks and find that H-InDex largely surpasses strong baseline methods and the recent visual foundation models for motor control. Code is available at https://yanjieze.com/H-InDex .Comment: NeurIPS 2023. Code and videos: https://yanjieze.com/H-InDe

Oscillation-specific nodal alterations in early to middle stages Parkinsons disease.

Background: Different oscillations of brain networks could carry different dimensions of brain integration. We aimed to investigate oscillation-specific nodal alterations in patients with Parkinsons disease (PD) across early stage to middle stage by using graph theory-based analysis. Methods: Eighty-eight PD patients including 39 PD patients in the early stage (EPD) and 49 patients in the middle stage (MPD) and 36 controls were recruited in the present study. Graph theory-based network analyses from three oscillation frequencies (slow-5: 0.01-0.027 Hz; slow-4: 0.027-0.073 Hz; slow-3: 0.073-0.198 Hz) were analyzed. Nodal metrics (e.g. nodal degree centrality, betweenness centrality and nodal efficiency) were calculated. Results: Our results showed that (1) a divergent effect of oscillation frequencies on nodal metrics, especially on nodal degree centrality and nodal efficiency, that the anteroventral neocortex and subcortex had high nodal metrics within low oscillation frequencies while the posterolateral neocortex had high values within the relative high oscillation frequency was observed, which visually showed that network was perturbed in PD; (2) PD patients in early stage relatively preserved nodal properties while MPD patients showed widespread abnormalities, which was consistently detected within all three oscillation frequencies; (3) the involvement of basal ganglia could be specifically observed within slow-5 oscillation frequency in MPD patients; (4) logistic regression and receiver operating characteristic curve analyses demonstrated that some of those oscillation-specific nodal alterations had the ability to well discriminate PD patients from controls or MPD from EPD patients at the individual level; (5) occipital disruption within high frequency (slow-3) made a significant influence on motor impairment which was dominated by akinesia and rigidity. Conclusions: Coupling various oscillations could provide potentially useful information for large-scale network and progressive oscillation-specific nodal alterations were observed in PD patients across early to middle stages

3D Random Occlusion and Multi-layer Projection for Deep Multi-camera Pedestrian Localization

Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due to the lack of annotated training samples in existing multi-view datasets, which increases the risk of overfitting. To address this problem, a data augmentation method is proposed to randomly generate 3D cylinder occlusions, on the ground plane, which are of the average size of pedestrians and projected to multiple views, to relieve the impact of overfitting in the training. Moreover, the feature map of each view is projected to multiple parallel planes at different heights, by using homographies, which allows the CNNs to fully utilize the features across the height of each pedestrian to infer the locations of pedestrians on the ground plane. The proposed 3DROM method has a greatly improved performance in comparison with the state-of-the-art deep-learning based methods for multi-view pedestrian detection. Code is available at https://github.com/xjtlu-cvlab/3DROM

SCULPTOR: Skeleton-Consistent Face Creation Using a Learned Parametric Generator

Recent years have seen growing interest in 3D human faces modelling due to its wide applications in digital human, character generation and animation. Existing approaches overwhelmingly emphasized on modeling the exterior shapes, textures and skin properties of faces, ignoring the inherent correlation between inner skeletal structures and appearance. In this paper, we present SCULPTOR, 3D face creations with Skeleton Consistency Using a Learned Parametric facial generaTOR, aiming to facilitate easy creation of both anatomically correct and visually convincing face models via a hybrid parametric-physical representation. At the core of SCULPTOR is LUCY, the first large-scale shape-skeleton face dataset in collaboration with plastic surgeons. Named after the fossils of one of the oldest known human ancestors, our LUCY dataset contains high-quality Computed Tomography (CT) scans of the complete human head before and after orthognathic surgeries, critical for evaluating surgery results. LUCY consists of 144 scans of 72 subjects (31 male and 41 female) where each subject has two CT scans taken pre- and post-orthognathic operations. Based on our LUCY dataset, we learn a novel skeleton consistent parametric facial generator, SCULPTOR, which can create the unique and nuanced facial features that help define a character and at the same time maintain physiological soundness. Our SCULPTOR jointly models the skull, face geometry and face appearance under a unified data-driven framework, by separating the depiction of a 3D face into shape blend shape, pose blend shape and facial expression blend shape. SCULPTOR preserves both anatomic correctness and visual realism in facial generation tasks compared with existing methods. Finally, we showcase the robustness and effectiveness of SCULPTOR in various fancy applications unseen before.Comment: 16 page, 13 fig