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Jin Jin

Publications and source records attributed to Jin Jin.

At least 19 recordsLinked to original sources

Supervised Fine-tuning with Synthetic Rationale Data Hurts Real-World Disease Prediction

Supervised fine-tuning with synthetic rationale data is widely assumed to improve language model performance on clinical prediction tasks by teaching models not just what to predict but why. We test this assumption on five-year Alzheimer's disease and related dementias (ADRD) prediction from longitudinal health histories. Across a large-scale controlled experiment of 504 configurations, we find that rationale-based SFT consistently and substantially hurts prediction performance relative to label-only fine-tuning. The degradation persists across model families and data scales, and is not resolved by using a reasoning-oriented base model. Crucially, the failure is not explained by poor rationale quality: human expert annotation confirms that the generated rationales are medically accurate and faithfully grounded in patient-specific evidence, and few-shot experiments show that the same rationales improve performance when used as inference-time demonstrations rather than training targets. We identify the root cause as a structural conflict between narrative plausibility and discriminative optimization. We hope our work paves the path toward a more precise understanding of when and how rationale-based supervision helps and when it does not, guiding the responsible development of language models for high-stakes clinical prediction.

cs.AI

GUIDE: Goal-Initialized Directional Understanding for End-to-End Visual Navigation

Learning-based visual navigation for legged robots typically relies on continuous goal updates from hierarchical state estimation to provide a persistent directional reference. This reliance incurs additional sensory and computational overhead and deviates from fully end-to-end mobile autonomy. Furthermore, under partial observability, policies are prone to learn myopic behaviors, easily becoming trapped in dead ends and complex structural layouts. To address these limitations, we investigate a goal-initialized navigation setting, where the target is provided only once at the beginning of an episode, requiring the robot to operate based on intrinsic spatial memory without subsequent goal updates from external modules. In this work, we propose GUIDE, a fully end-to-end reinforcement learning framework designed to cultivate internal directional awareness. Specifically, GUIDE incorporates a spatial anchor predictor that leverages multi-frequency proprioceptive history to extract egomotion representations, thereby maintaining a persistent long-horizon spatial context for navigation. Concurrently, it utilizes raw depth streams to perceive local environmental geometry. We evaluate the proposed framework across both simulation and real-world scenarios on a quadruped robot. Experiments show that GUIDE learns reliable egomotion and directional awareness, enabling a fully end-to-end deployed policy to safely navigate through dense clutter and structured mazes without subsequent goal guidance or prior maps.

cs.RO

Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments

Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety constraints. Existing semantic mapping and scene-graph systems are difficult to deploy directly in this setting because they often assume stable camera trajectories, static environments, or coarse object geometry. We introduce the Multi-modal Interactive Field (MIF), a humanoid-oriented system that integrates confidence-aware semantic 3D Gaussian Splatting, discrepancy-triggered spatial memory updates, and task-driven geometric reconstruction within a closed-loop perception-adaptation pipeline. MIF couples three fields: an uncertainty-aware 3DGS Appearance Field that suppresses gait-induced blur, a Spatial Field that maintains topological memory, and a Geometry Field that supports Interaction Pose Safety (IPS) before manipulation. A discrepancy detection score is introduced to separate locomotion-induced false-positive changes from persistent changes and updates only locally inconsistent regions. On a Unitree-G1 humanoid in a real dynamic office, MIF improves relocation success in non-static environments from 12% to 94% compared with static scene-graph memory, while reducing semantic memory footprint by 91.4% through feature distillation for practical online operation. Project page and code: https://ziya-jiang.github.io/MIF-homepage/

cs.RO

HyperDet: 3D Object Detection with Hyper 4D Radar Point Clouds

How far can 3D object detection go using 4D radar alone? Despite offering weather-robust and velocity-aware sensing for autonomous perception, modern 4D radar still yields sparse, noisy, and unstable point clouds, limiting radar-only 3D detection. We present HyperDet, a detector-agnostic frame- work that constructs task-aware hyper 4D radar point clouds before detection. HyperDet first refines short-window surround-view radar observations through spatio-temporal accumulation, cross-sensor validation, and Doppler-guided mo- tion compensation, improving return reliability and temporal coherence. It then performs foreground generative enhancement using LiDAR-guided pseudo-radar supervision available only during training, enriching object geometry while pre- serving measured radar background and radar-native attributes. During detector training, radar-aware object-level augmentation further preserves Doppler consis- tency under geometric relocation. At inference time, HyperDet requires radar input alone and can be directly paired with standard 3D detectors. Experiments on two public surround-view 4D radar datasets demonstrate consistent improve- ments over raw radar inputs across standard 3D detectors, validating input-level radar enhancement as an effective approach to radar-only 3D detection.

cs.RO

PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify task-relevant interaction cues or track progress within a subtask, leading to critical execution errors such as repeated actions, missed steps, and premature termination. To address these challenges, we introduce PALM, a VLA framework that structures policy learning around interaction-centric affordance reasoning and subtask progress cues. PALM distills complementary affordance representations that capture object relevance, contact geometry, spatial placements, and motion dynamics, and serve as task-relevant anchors for visuomotor control. To further stabilize long-horizon execution, PALM predicts continuous within-subtask progress, enabling seamless subtask transitions. Across extensive simulation and real-world experiments, PALM consistently outperforms baselines, achieving a 91.8% success rate on LIBERO-LONG, a 12.5% improvement in average length on CALVIN ABC->D, and a 2x improvement over real-world baselines across three long-horizon generalization settings.

cs.RO

Vision-Language-Policy Model for Dynamic Robot Task Planning

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple modalities, and to plan their behaviors to achieve their intended goals. Traditional robotic task-planning approaches often struggle to bridge low-level execution with high-level task reasoning, and cannot dynamically update task strategies when instructions change during execution, which ultimately limits their versatility and adaptability to new tasks. In this work, we propose a novel language model-based framework for dynamic robot task planning. Our Vision-Language-Policy (VLP) model, based on a vision-language model fine-tuned on real-world data, can interpret semantic instructions and integrate reasoning over the current task scene to generate behavior policies that control the robot to accomplish the task. Moreover, it can dynamically adjust the task strategy in response to changes in the task, enabling flexible adaptation to evolving task requirements. Experiments conducted with different robots and a variety of real-world tasks show that the trained model can efficiently adapt to novel scenarios and dynamically update its policy, demonstrating strong planning autonomy and cross-embodiment generalization. Videos: https://robovlp.github.io/

cs.RO

Deciphering Scientific Collaboration in Biomedical LLM Research: Dynamics, Institutional Participation, and Resource Disparities

Large language models (LLMs) are increasingly transforming biomedical discovery and clinical innovation, yet their impact extends far beyond algorithmic revolution-LLMs are restructuring how scientific collaboration occurs, who participates, and how resources shape innovation. Despite this profound transformation, how this rapid technological shift is reshaping the structure and equity of scientific collaboration in biomedical LLM research remains largely unknown. By analyzing 5,674 LLM-related biomedical publications from PubMed, we examine how collaboration diversity evolves over time, identify institutions and disciplines that anchor and bridge collaboration networks, and assess how resource disparities underpin research performance. We find that collaboration diversity has grown steadily, with a decreasing share of Computer Science and Artificial Intelligence authors, suggesting that LLMs are lowering technical barriers for biomedical investigators. Network analysis reveals central institutions, including Stanford University and Harvard Medical School, and bridging disciplines such as Medicine and Computer Science that anchor collaborations in this field. Furthermore, biomedical research resources are strongly linked to research performance, with high-performing resource-constrained institutions exhibiting larger collaboration volume with the top 1% most connected institutions in the network. Together, these findings reveal a complex landscape, where democratizing trends coexist with a persistent, resource-driven hierarchy, highlighting the critical role of strategic collaboration in this evolving field.

cs.SI

Flow-CDNet: A Novel Network for Detecting Both Slow and Fast Changes in Bitemporal Images

Change detection typically involves identifying regions with changes between bitemporal images taken at the same location. Besides significant changes, slow changes in bitemporal images are also important in real-life scenarios. For instance, weak changes often serve as precursors to major hazards in scenarios like slopes, dams, and tailings ponds. Therefore, designing a change detection network that simultaneously detects slow and fast changes presents a novel challenge. In this paper, to address this challenge, we propose a change detection network named Flow-CDNet, consisting of two branches: optical flow branch and binary change detection branch. The first branch utilizes a pyramid structure to extract displacement changes at multiple scales. The second one combines a ResNet-based network with the optical flow branch's output to generate fast change outputs. Subsequently, to supervise and evaluate this new change detection framework, a self-built change detection dataset Flow-Change, a loss function combining binary tversky loss and L2 norm loss, along with a new evaluation metric called FEPE are designed. Quantitative experiments conducted on Flow-Change dataset demonstrated that our approach outperforms the existing methods. Furthermore, ablation experiments verified that the two branches can promote each other to enhance the detection performance.

cs.CV

Artificial Intelligence-assisted Pixel-level Lung (APL) Scoring for Fast and Accurate Quantification in Ultra-short Echo-time MRI

Lung magnetic resonance imaging (MRI) with ultrashort echo-time (UTE) represents a recent breakthrough in lung structure imaging, providing image resolution and quality comparable to computed tomography (CT). Due to the absence of ionising radiation, MRI is often preferred over CT in paediatric diseases such as cystic fibrosis (CF), one of the most common genetic disorders in Caucasians. To assess structural lung damage in CF imaging, CT scoring systems provide valuable quantitative insights for disease diagnosis and progression. However, few quantitative scoring systems are available in structural lung MRI (e.g., UTE-MRI). To provide fast and accurate quantification in lung MRI, we investigated the feasibility of novel Artificial intelligence-assisted Pixel-level Lung (APL) scoring for CF. APL scoring consists of 5 stages, including 1) image loading, 2) AI lung segmentation, 3) lung-bounded slice sampling, 4) pixel-level annotation, and 5) quantification and reporting. The results shows that our APL scoring took 8.2 minutes per subject, which was more than twice as fast as the previous grid-level scoring. Additionally, our pixel-level scoring was statistically more accurate (p=0.021), while strongly correlating with grid-level scoring (R=0.973, p=5.85e-9). This tool has great potential to streamline the workflow of UTE lung MRI in clinical settings, and be extended to other structural lung MRI sequences (e.g., BLADE MRI), and for other lung diseases (e.g., bronchopulmonary dysplasia).

eess.IV

Crowdsourcing-Based Knowledge Graph Construction for Drug Side Effects Using Large Language Models with an Application on Semaglutide

Social media is a rich source of real-world data that captures valuable patient experience information for pharmacovigilance. However, mining data from unstructured and noisy social media content remains a challenging task. We present a systematic framework that leverages large language models (LLMs) to extract medication side effects from social media and organize them into a knowledge graph (KG). We apply this framework to semaglutide for weight loss using data from Reddit. Using the constructed knowledge graph, we perform comprehensive analyses to investigate reported side effects across different semaglutide brands over time. These findings are further validated through comparison with adverse events reported in the FAERS database, providing important patient-centered insights into semaglutide's side effects that complement its safety profile and current knowledge base of semaglutide for both healthcare professionals and patients. Our work demonstrates the feasibility of using LLMs to transform social media data into structured KGs for pharmacovigilance.

cs.AI

Patients Speak, AI Listens: LLM-based Analysis of Online Reviews Uncovers Key Drivers for Urgent Care Satisfaction

Investigating the public experience of urgent care facilities is essential for promoting community healthcare development. Traditional survey methods often fall short due to limited scope, time, and spatial coverage. Crowdsourcing through online reviews or social media offers a valuable approach to gaining such insights. With recent advancements in large language models (LLMs), extracting nuanced perceptions from reviews has become feasible. This study collects Google Maps reviews across the DMV and Florida areas and conducts prompt engineering with the GPT model to analyze the aspect-based sentiment of urgent care. We first analyze the geospatial patterns of various aspects, including interpersonal factors, operational efficiency, technical quality, finances, and facilities. Next, we determine Census Block Group (CBG)-level characteristics underpinning differences in public perception, including population density, median income, GINI Index, rent-to-income ratio, household below poverty rate, no insurance rate, and unemployment rate. Our results show that interpersonal factors and operational efficiency emerge as the strongest determinants of patient satisfaction in urgent care, while technical quality, finances, and facilities show no significant independent effects when adjusted for in multivariate models. Among socioeconomic and demographic factors, only population density demonstrates a significant but modest association with patient ratings, while the remaining factors exhibit no significant correlations. Overall, this study highlights the potential of crowdsourcing to uncover the key factors that matter to residents and provide valuable insights for stakeholders to improve public satisfaction with urgent care.

cs.CL

On self-training of summary data with genetic applications

Prediction model training is often hindered by limited access to individual-level data due to privacy concerns and logistical challenges, particularly in biomedical research. Resampling-based self-training presents a promising approach for building prediction models using only summary-level data. These methods leverage summary statistics to sample pseudo datasets for model training and parameter optimization, allowing for model development without individual-level data. Although increasingly used in precision medicine, the general behaviors of self-training remain unexplored. In this paper, we leverage a random matrix theory framework to establish the statistical properties of self-training algorithms for high-dimensional sparsity-free summary data. We demonstrate that, within a class of linear estimators, resampling-based self-training achieves the same asymptotic predictive accuracy as conventional training methods that require individual-level datasets. These results suggest that self-training with only summary data incurs no additional cost in prediction accuracy, while offering significant practical convenience. Our analysis provides several valuable insights and counterintuitive findings. For example, while pseudo-training and validation datasets are inherently dependent, their interdependence unexpectedly cancels out when calculating prediction accuracy measures, preventing overfitting in self-training algorithms. Furthermore, we extend our analysis to show that the self-training framework maintains this no-cost advantage when combining multiple methods or when jointly training on data from different distributions. We numerically validate our findings through simulations and real data analyses using the UK Biobank. Our study highlights the potential of resampling-based self-training to advance genetic risk prediction and other fields that make summary data publicly available.

stat.ME

Constructing Genetic Risk Scores: Robust Bayesian Approach through Projected Summary Statistics and Flexible Shrinkage

Polygenic risk scores (PRS) developed from genome-wide association studies (GWAS) can be used for risk stratification by quantifying the genetic contribution to disease, and many clinical applications have been proposed. Bayesian methods are popular for building PRS because of their natural ability to regularize models and incorporate external information. In this article, we present new theoretical results, methods, and extensive numerical studies to advance Bayesian methods for PRS applications. We identify a potential risk, under a common Bayesian PRS framework, of posterior impropriety when integrating the required GWAS summary statistics and linkage disequilibrium (LD) data from distinct sources. As a principled remedy, we propose a projection of the summary statistics that ensures compatibility between the two sources and in turn a proper behavior of the posterior. We further introduce a new PRS method, with accompanying software, under the less-explored Bayesian bridge prior to more flexibly model varying sparsity levels in effect-size distributions. We extensively benchmark it against alternative Bayesian methods using synthetic and real datasets, quantifying the impact of prior specification and LD estimation strategy. Our proposed PRS-Bridge, equipped with the projection technique and flexible prior, demonstrates the most consistent and generally superior performance across a variety of scenarios.

stat.ME

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End

Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception algorithm misinterprets the scene due to limited generalization. In this paper, we model perception failures as invisible obstacles and pits, and train a reinforcement learning (RL) based local navigation policy to guide our legged robot. Unlike previous works relying on heuristics and anomaly detection to update navigational information, we train our navigation policy to reconstruct the environment information in the latent space from corrupted perception and react to perception failures end-to-end. To this end, we incorporate both proprioception and exteroception into our policy inputs, thereby enabling the policy to sense collisions on different body parts and pits, prompting corresponding reactions. We validate our approach in simulation and on the real quadruped robot ANYmal running in real-time (<10 ms CPU inference). In a quantitative comparison with existing heuristic-based locally reactive planners, our policy increases the success rate over 30% when facing perception failures. Project Page: https://bit.ly/45NBTuh.

cs.RO

NeXtQSM -- A complete deep learning pipeline for data-consistent quantitative susceptibility mapping trained with hybrid data

Deep learning based Quantitative Susceptibility Mapping (QSM) has shown great potential in recent years, obtaining similar results to established non-learning approaches. Many current deep learning approaches are not data consistent, require in vivo training data or solve the QSM problem in consecutive steps resulting in the propagation of errors. Here we aim to overcome these limitations and developed a framework to solve the QSM processing steps jointly. We developed a new hybrid training data generation method that enables the end-to-end training for solving background field correction and dipole inversion in a data-consistent fashion using a variational network that combines the QSM model term and a learned regularizer. We demonstrate that NeXtQSM overcomes the limitations of previous deep learning methods. NeXtQSM offers a new deep learning based pipeline for computing quantitative susceptibility maps that integrates each processing step into the training and provides results that are robust and fast.

eess.IV

Deep-learning-enabled Brain Hemodynamic Mapping Using Resting-state fMRI

Cerebrovascular disease is a leading cause of death globally. Prevention and early intervention are known to be the most effective forms of its management. Non-invasive imaging methods hold great promises for early stratification, but at present lack the sensitivity for personalized prognosis. Resting-state functional magnetic resonance imaging (rs-fMRI), a powerful tool previously used for mapping neural activity, is available in most hospitals. Here we show that rs-fMRI can be used to map cerebral hemodynamic function and delineate impairment. By exploiting time variations in breathing pattern during rs-fMRI, deep learning enables reproducible mapping of cerebrovascular reactivity (CVR) and bolus arrive time (BAT) of the human brain using resting-state CO2 fluctuations as a natural 'contrast media'. The deep-learning network was trained with CVR and BAT maps obtained with a reference method of CO2-inhalation MRI, which included data from young and older healthy subjects and patients with Moyamoya disease and brain tumors. We demonstrate the performance of deep-learning cerebrovascular mapping in the detection of vascular abnormalities, evaluation of revascularization effects, and vascular alterations in normal aging. In addition, cerebrovascular maps obtained with the proposed method exhibited excellent reproducibility in both healthy volunteers and stroke patients. Deep-learning resting-state vascular imaging has the potential to become a useful tool in clinical cerebrovascular imaging.

eess.IV

A powerful test for differentially expressed gene pathways via graph-informed structural equation modeling

A major task in genetic studies is to identify genes related to human diseases and traits to understand functional characteristics of genetic mutations and enhance patient diagnosis. Besides marginal analyses of individual genes, identification of gene pathways, i.e., a set of genes with known interactions that collectively contribute to specific biological functions, can provide more biologically meaningful results. Such gene pathway analysis can be formulated into a high-dimensional two-sample testing problem. Due to the typically limited sample size of gene expression datasets, most existing two-sample tests may have compromised powers because they ignore or only inefficiently incorporate the auxiliary pathway information on gene interactions. We propose T2-DAG, a Hotelling's $T^2$-type test for detecting differentially expressed gene pathways, which efficiently leverages the auxiliary pathway information on gene interactions through a linear structural equation model. We establish the asymptotic distribution of the test statistic under pertinent assumptions. Simulation studies under various scenarios show that T2-DAG outperforms several representative existing methods with well-controlled type-I error rates and substantially improved powers, even with incomplete or inaccurate pathway information or unadjusted confounding effects. We also illustrate the performance of T2-DAG in an application to detect differentially expressed KEGG pathways between different stages of lung cancer.

stat.ME

Multi-resolution Super Learner for Voxel-wise Classification of Prostate Cancer Using Multi-parametric MRI

While current research has shown the importance of Multi-parametric MRI (mpMRI) in diagnosing prostate cancer (PCa), further investigation is needed for how to incorporate the specific structures of the mpMRI data, such as the regional heterogeneity and between-voxel correlation within a subject. This paper proposes a machine learning-based method for improved voxel-wise PCa classification by taking into account the unique structures of the data. We propose a multi-resolution modeling approach to account for regional heterogeneity, where base learners trained locally at multiple resolutions are combined using the super learner, and account for between-voxel correlation by efficient spatial Gaussian kernel smoothing. The method is flexible in that the super learner framework allows implementation of any classifier as the base learner, and can be easily extended to classifying cancer into more sub-categories. We describe detailed classification algorithm for the binary PCa status, as well as the ordinal clinical significance of PCa for which a weighted likelihood approach is implemented to enhance the detection of the less prevalent cancer categories. We illustrate the advantages of the proposed approach over conventional modeling and machine learning approaches through simulations and application to in vivo data.

stat.ML