6,095 research outputs found
Using real-time recognition of human-robot interaction styles for creating adaptive robot behaviour in robot-assisted play
“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/ALIFE.2009.4937693This paper presents an application of the Cascaded Information Bottleneck Method for real-time recognition of Human-Robot Interaction styles in robot-assisted play. This method, that we have developed, is implemented here for an adaptive robot that can recognize and adapt to children's play styles in real time. The robot rewards well-balanced interaction styles and encourages children to engage in the interaction. The potential impact of such an adaptive robot in robot-assisted play for children with autism is evaluated through a study conducted with seven children with autism in a school. A statistical analysis of the results shows the positive impact of such an adaptive robot on the children's play styles and on their engagement in the interaction with the robot
Violating the Modified Helstrom Bound with Nonprojective Measurements
We consider the discrimination of two pure quantum states with three allowed
outcomes: a correct guess, an incorrect guess, and a non-guess. To find an
optimum measurement procedure, we define a tunable cost that penalizes the
incorrect guess and non-guess outcomes. Minimizing this cost over all
projective measurements produces a rigorous cost bound that includes the usual
Helstrom discrimination bound as a special case. We then show that
nonprojective measurements can outperform this modified Helstrom bound for
certain choices of cost function. The Ivanovic-Dieks-Peres unambiguous state
discrimination protocol is recovered as a special case of this improvement.
Notably, while the cost advantage of the latter protocol is destroyed with the
introduction of any amount of experimental noise, other choices of cost
function have optima for which nonprojective measurements robustly show an
appreciable, and thus experimentally measurable, cost advantage. Such an
experiment would be an unambiguous demonstration of a benefit from
nonprojective measurements.Comment: 5 pages, 2 figure
ToolNet: Holistically-Nested Real-Time Segmentation of Robotic Surgical Tools
Real-time tool segmentation from endoscopic videos is an essential part of
many computer-assisted robotic surgical systems and of critical importance in
robotic surgical data science. We propose two novel deep learning architectures
for automatic segmentation of non-rigid surgical instruments. Both methods take
advantage of automated deep-learning-based multi-scale feature extraction while
trying to maintain an accurate segmentation quality at all resolutions. The two
proposed methods encode the multi-scale constraint inside the network
architecture. The first proposed architecture enforces it by cascaded
aggregation of predictions and the second proposed network does it by means of
a holistically-nested architecture where the loss at each scale is taken into
account for the optimization process. As the proposed methods are for real-time
semantic labeling, both present a reduced number of parameters. We propose the
use of parametric rectified linear units for semantic labeling in these small
architectures to increase the regularization ability of the design and maintain
the segmentation accuracy without overfitting the training sets. We compare the
proposed architectures against state-of-the-art fully convolutional networks.
We validate our methods using existing benchmark datasets, including ex vivo
cases with phantom tissue and different robotic surgical instruments present in
the scene. Our results show a statistically significant improved Dice
Similarity Coefficient over previous instrument segmentation methods. We
analyze our design choices and discuss the key drivers for improving accuracy.Comment: Paper accepted at IROS 201
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