This work proposes a novel grasp detection method, the Efficient Grasp Aware Network (EGA-Net), for robotic visual grasp detection. Our method obtains semantic information for grasping through feature extraction. It efficiently obtains feature channel weights related to grasping tasks through the constructed ECA-ResNet module, which can smooth the network’s learning. Meanwhile, we use concatenation to obtain low-level features with rich spatial information. Our method inputs an RGB-D image and outputs the grasp poses and their quality score. The EGA-Net is trained and tested on the Cornell and Jacquard datasets, and we achieve 98.9% and 95.8% accuracy, respectively. The proposed method only takes 24 ms for real-time performance to process an RGB-D image. Moreover, our method achieved better results in the comparison experiment. In the real-world grasp experiments, we use a 6-degree of freedom (DOF) UR-5 robotic arm to demonstrate its robust grasping of unseen objects in various scenes. We also demonstrate that our model can successfully grasp different types of objects without any processing in advance. The experiment results validate our model’s exceptional robustness and generalization.

This paper proposes a sequence-to-sequence model for data-to-text generation, called DM-NLG, to generate a natural language text from structured nonlinguistic input. Specifically, by adding a dynamic memory module to the attention-based sequence-to-sequence model, it can store the information that leads to generate previous output words and use it to generate the next word. In this way, the decoder part of the model is aware of all previous decisions, and as a result, the generation of duplicate words or incomplete semantic concepts is prevented. To improve the generated sentences quality by the DM-NLG decoder, a postprocessing step is performed using the pretrained language models. To prove the effectiveness of the DM-NLG model, we performed experiments on five different datasets and observed that our proposed model is able to reduce the slot error rate rate by 50% and improve the BLEU by 10%, compared to the state-of-the-art models.

Vaginitis is a prevalent gynecologic disease that threatens millions of women’s health. Although microscopic examination of vaginal discharge is an effective method to identify vaginal infections, manual analysis of microscopic leucorrhea images is extremely time-consuming and labor-intensive. To automate the detection and identification of visible components in microscopic leucorrhea images for early-stage diagnosis of vaginitis, we propose a novel end-to-end deep learning-based cells detection framework using attention-based detection with transformers (DETR) architecture. The transfer learning was applied to speed up the network convergence while maintaining the lowest annotation cost. To address the issue of detection performance degradation caused by class imbalance, the weighted sampler with on-the-fly data augmentation module was integrated into the detection pipeline. Additionally, the multi-head attention mechanism and the bipartite matching loss system of the DETR model perform well in identifying partially overlapping cells in real-time. With our proposed method, the pipeline achieved a mean average precision (mAP) of 86.00% and the average precision (AP) of epithelium, leukocyte, pyocyte, mildew, and erythrocyte was 96.76, 83.50, 74.20, 89.66, and 88.80%, respectively. The average test time for a microscopic leucorrhea image is approximately 72.3 ms. Currently, this cell detection method represents state-of-the-art performance.

Convolutional sequence to sequence (CNN seq2seq) models have met success in abstractive summarization. However, their outputs often contain repetitive word sequences and logical inconsistencies, limiting the practicality of their application. In this paper, we find the reasons behind the repetition problem in CNN-based abstractive summarization through observing the attention map between the summaries with repetition and their corresponding source documents and mitigate the repetition problem. We propose to reduce the repetition in summaries by attention filter mechanism (ATTF) and sentence-level backtracking decoder (SBD), which dynamically redistributes attention over the input sequence as the output sentences are generated. The ATTF can record previously attended locations in the source document directly and prevent the decoder from attending to these locations. The SBD prevents the decoder from generating similar sentences more than once via backtracking at test. The proposed model outperforms the baselines in terms of ROUGE score, repeatedness, and readability. The results show that this approach generates high-quality summaries with minimal repetition and makes the reading experience better.