OBJECTIVE: Large-language models (LLMs) can potentially revolutionize health care delivery and research, but risk propagating existing biases or introducing new ones. In epilepsy, social determinants of health are associated with disparities in care access, but their impact on seizure outcomes among those with access remains unclear. Here we (1) evaluated our validated, epilepsy-specific LLM for intrinsic bias, and (2) used LLM-extracted seizure outcomes to determine if different demographic groups have different seizure outcomes. MATERIALS AND METHODS: We tested our LLM for differences and equivalences in prediction accuracy and confidence across demographic groups defined by race, ethnicity, sex, income, and health insurance, using manually annotated notes. Next, we used LLM-classified seizure freedom at each office visit to test for demographic outcome disparities, using univariable and multivariable analyses. RESULTS: We analyzed 84 675 clinic visits from 25 612 unique patients seen at our epilepsy center. We found little evidence of bias in the prediction accuracy or confidence of outcome classifications across demographic groups. Multivariable analysis indicated worse seizure outcomes for female patients (OR 1.33, P ≤ .001), those with public insurance (OR 1.53, P ≤ .001), and those from lower-income zip codes (OR ≥1.22, P ≤ .007). Black patients had worse outcomes than White patients in univariable but not multivariable analysis (OR 1.03, P = .66). CONCLUSION: We found little evidence that our LLM was intrinsically biased against any demographic group. Seizure freedom extracted by LLM revealed disparities in seizure outcomes across several demographic groups. These findings quantify the critical need to reduce disparities in the care of people with epilepsy.

Text-to-3D modelling has seen exciting progress by combining generative text-to-image models with image-to-3D methods like Neural Radiance Fields. DreamFusion recently achieved high-quality results but requires a lengthy, per-prompt optimization to create 3D objects. To address this, we amortize optimization over text prompts by training on many prompts simultaneously with a unified model, instead of separately. With this, we share computation across a prompt set, training in less time than per-prompt optimization. Our framework – Amortized Text-to-3D (ATT3D) – enables knowledge sharing between prompts to generalize to unseen setups and smooth interpolations between text for novel assets and simple animations.

Simulation has emerged as an indispensable tool for scaling and accelerating the development of self-driving systems. A critical aspect of this is simulating realistic and diverse human behavior and intent. In this work, we propose a holistic framework for learning physically plausible human dynamics from real driving scenarios, narrowing the gap between real and simulated human behavior in safety-critical applications. We show that state-of-the-art methods underperform in driving scenarios where video data is recorded from moving vehicles, and humans are frequently partially or fully occluded. Furthermore, existing methods often disregard the global scene where humans are situated, resulting in various motion artifacts like foot sliding, floating, or ground penetration. To address this challenge, we propose an approach that incorporates physics with a reinforcement learning-based motion controller to learn human dynamics for driving scenarios. Our framework can simulate physically plausible human dynamics that accurately match observed human motions and infill motions for occluded body parts, while improving the physical plausibility of the entire motion sequence. Experiments on the challenging Waymo Open Dataset show that our method outperforms state-of-the-art motion capture approaches significantly in recovering high-quality, physically plausible, and scene-aware human dynamics.

OBJECTIVE: Seizure frequency and seizure freedom are among the most important outcome measures for patients with epilepsy. In this study, we aimed to automatically extract this clinical information from unstructured text in clinical notes. If successful, this could improve clinical decision-making in epilepsy patients and allow for rapid, large-scale retrospective research. MATERIALS AND METHODS: We developed a finetuning pipeline for pretrained neural models to classify patients as being seizure-free and to extract text containing their seizure frequency and date of last seizure from clinical notes. We annotated 1000 notes for use as training and testing data and determined how well 3 pretrained neural models, BERT, RoBERTa, and Bio_ClinicalBERT, could identify and extract the desired information after finetuning. RESULTS: The finetuned models (BERTFT, Bio_ClinicalBERTFT, and RoBERTaFT) achieved near-human performance when classifying patients as seizure free, with BERTFT and Bio_ClinicalBERTFT achieving accuracy scores over 80%. All 3 models also achieved human performance when extracting seizure frequency and date of last seizure, with overall F1 scores over 0.80. The best combination of models was Bio_ClinicalBERTFT for classification, and RoBERTaFT for text extraction. Most of the gains in performance due to finetuning required roughly 70 annotated notes. DISCUSSION AND CONCLUSION: Our novel machine reading approach to extracting important clinical outcomes performed at or near human performance on several tasks. This approach opens new possibilities to support clinical practice and conduct large-scale retrospective clinical research. Future studies can use our finetuning pipeline with minimal training annotations to answer new clinical questions.

We present KAMA, a 3D Keypoint Aware Mesh Articulation approach that allows us to estimate a human body mesh from the positions of 3D body keypoints. To this end, we learn to estimate 3D positions of 26 body keypoints and propose an analytical solution to articulate a parametric body model, SMPL, via a set of straightforward geometric transformations. Since keypoint estimation directly relies on image clues, our approach offers significantly better alignment to image content when compared to state-of-the-art approaches. Our proposed approach does not require any paired mesh annotations and provides accurate mesh fittings through 3D keypoint regression only. Results on the challenging 3DPW and Human3.6M show that our approach yields state-of-the-art body mesh fittings.

Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we propose a framework for training generative models of physically plausible human motion directly from monocular RGB videos, which are much more widely available. At the core of our method is a novel optimization formulation that corrects imperfect image-based pose estimations by enforcing physics constraints and reasons about contacts in a differentiable way. This optimization yields corrected 3D poses and motions, as well as their corresponding contact forces. Results show that our physically-corrected motions significantly outperform prior work on pose estimation. We can then use these to train a generative model to synthesize future motion. We demonstrate both qualitatively and quantitatively significantly improved motion estimation, synthesis quality and physical plausibility achieved by our method on the large scale Human3.6m dataset [12] as compared to prior kinematic and physics-based methods. By enabling learning of motion synthesis from video, our method paves the way for large-scale, realistic and diverse motion synthesis.

Effective planning in model-based reinforcement learning (MBRL) and model-predictive control (MPC) relies on the accuracy of the learned dynamics model. In many instances of MBRL and MPC, this model is assumed to be stationary and is periodically re-trained from scratch on state transition experience collected from the beginning of environment interactions. This implies that the time required to train the dynamics model - and the pause required between plan executions - grows linearly with the size of the collected experience. We argue that this is too slow for lifelong robot learning and propose HyperCRL, a method that continually learns the encountered dynamics in a sequence of tasks using task-conditional hypernetworks. Our method has three main attributes: first, it includes dynamics learning sessions that do not revisit training data from previous tasks, so it only needs to store the most recent fixed-size portion of the state transition experience; second, it uses fixed-capacity hypernetworks to represent non-stationary and task-aware dynamics; third, it outperforms existing continual learning alternatives that rely on fixed-capacity networks, and does competitively with baselines that remember an ever increasing coreset of past experience. We show that HyperCRL is effective in continual model-based reinforcement learning in robot locomotion and manipulation scenarios, such as tasks involving pushing and door opening. Our project website with videos is at this link http://rvl.cs.toronto.edu/blog/2020/hypercrl/