Few-shot deep learning for AFM force curve characterization of single-molecule interactions.

Deep learning (DL)-based analytics has the scope to transform the field of atomic force microscopy (AFM) with regard to fast and bias-free measurement characterization. For example, AFM force-distance curves can help estimate important parameters of binding kinetics, such as the most probable rupture force, binding probability, association, and dissociation constants, as well as receptor density on live cells. Other than the ideal single-rupture event in the force-distance curves, there can be no-rupture, double-rupture, or multiple-rupture events. The current practice is to go through such datasets manually, which can be extremely tedious work for the experimentalists. We address this issue by adopting a few-shot learning approach to build sample-efficient DL models that demonstrate better performance than shallow ML models while matching the performance of moderately trained humans. We also release our AFM force curve dataset and annotations publicly as a benchmark for the research community.

A Modular Vision Language Navigation and Manipulation Framework for Long Horizon Compositional Tasks in Indoor Environment.

In this paper we propose a new framework-MoViLan (Modular Vision and Language) for execution of visually grounded natural language instructions for day to day indoor household tasks. While several data-driven, end-to-end learning frameworks have been proposed for targeted navigation tasks based on the vision and language modalities, performance on recent benchmark data sets revealed the gap in developing comprehensive techniques for long horizon, compositional tasks (involving manipulation and navigation) with diverse object categories, realistic instructions and visual scenarios with non reversible state changes. We propose a modular approach to deal with the combined navigation and object interaction problem without the need for strictly aligned vision and language training data (e.g., in the form of expert demonstrated trajectories). Such an approach is a significant departure from the traditional end-to-end techniques in this space and allows for a more tractable training process with separate vision and language data sets. Specifically, we propose a novel geometry-aware mapping technique for cluttered indoor environments, and a language understanding model generalized for household instruction following. We demonstrate a significant increase in success rates for long horizon, compositional tasks over recent works on the recently released benchmark data set -ALFRED.