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Explainability is essential for AI models, especially in clinical settings where understanding the model’s decisions is crucial. Despite their impressive performance, black-box AI models are unsuitable for clinical use if their operations cannot be explained to clinicians. While deep neural networks (DNNs) represent the forefront of model performance, their explanations are often not easily interpreted by humans. On the other hand, hand-crafted features extracted to represent different aspects of the input data and traditional machine learning models are generally more understandable. However, they often lack the effectiveness of advanced models due to human limitations in feature design. To address this, we propose ExShall-CNN, a novel explainable shallow convolutional neural network for medical image processing. This model improves upon hand-crafted features to maintain human interpretability, ensuring that its decisions are transparent and understandable. We introduce the explainable shallow convolutional neural network (ExShall-CNN), which combines the interpretability of hand-crafted features with the performance of advanced deep convolutional networks like U-Net for medical image segmentation. Built on recent advancements in machine learning, ExShall-CNN incorporates widely used kernels while ensuring transparency, making its decisions visually interpretable by physicians and clinicians. This balanced approach offers both the accuracy of deep learning models and the explainability needed for clinical applications.
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Push Past Green: Learning to Look Behind Plant Foliage by Moving It
Autonomous agriculture applications (e.g., inspection, phenotyping, plucking fruits) require manipulating the plant foliage to look behind the leaves and the branches. Partial visibility, extreme clutter, thin structures, and unknown geometry and dynamics for plants make such manipulation challenging. We tackle these challenges through data-driven methods. We use self-supervision to train SRPNet, a neural network that predicts what space is revealed on execution of a candidate action on a given plant. We use SRPNet with the cross-entropy method to predict actions that are effective at revealing space beneath plant foliage. Fur- thermore, as SRPNet does not just predict how much space is revealed but also where it is revealed, we can execute a sequence of actions that incrementally re- veal more and more space beneath the plant foliage. We experiment with a synthetic (vines) and a real plant (Dracaena) on a physical test-bed across 5 settings including 2 settings that test generalization to novel plant configurations. Our experiments reveal the effectiveness of our overall method, PPG, over a competitive hand-crafted exploration method, and the effectiveness of SRPNet over a hand- crafted dynamics model and relevant ablations.
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- Award ID(s):
- 2143873
- PAR ID:
- 10510418
- Publisher / Repository:
- Proceedings of Machine Learning Research
- Date Published:
- Journal Name:
- Conference on Robot Learning
- Format(s):
- Medium: X
- Location:
- Atlanta
- Sponsoring Org:
- National Science Foundation
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