AGILE: Approach-based Grasp Inference Learned from Element Decomposition

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal way according to how the gripper has approached the object. Built on deep learning, the proposed method consists of two main stages. In order to generalize the network on unseen objects, the proposed Approach-based Grasping Inference involves an element decomposition stage to split an object into its main parts, each with one or more annotated grasps for a particular approach of the gripper. Subsequently, a grasp detection network utilizes the decomposed elements by Mask R-CNN and the information on the approach of the gripper in order to detect the element the gripper has approached and the most optimal grasp. In order to train the networks, the study introduces a robotic grasping dataset collected in the Coppeliasim simulation environment. The dataset involves 10 different objects with annotated element decomposition masks and grasp rectangles. The proposed method acquires a 90% grasp success rate on seen objects and 78% on unseen objects in the Coppeliasim simulation environment. Lastly, simulation-to-reality domain adaptation is performed by applying transformations on the training set collected in simulation and augmenting the dataset, which results in a 70% physical grasp success performance using a Delta parallel robot and a 2 -fingered gripper.

U-Net-based Models for Skin Lesion Segmentation: More Attention and Augmentation

According to WHO[1], since the 1970s, diagnosis of melanoma skin cancer has been more frequent. However, if detected early, the 5-year survival rate for melanoma can increase to 99 percent. In this regard, skin lesion segmentation can be pivotal in monitoring and treatment planning. In this work, ten models and four augmentation configurations are trained on the ISIC 2016 dataset. The performance and overfitting are compared utilizing five metrics. Our results show that the U-Net-Resnet50 and the R2U-Net have the highest metrics value, along with two data augmentation scenarios. We also investigate CBAM and AG blocks in the U-Net architecture, which enhances segmentation performance at a meager computational cost. In addition, we propose using pyramid, AG, and CBAM blocks in a sequence, which significantly surpasses the results of using the two individually. Finally, our experiments show that models that have exploited attention modules successfully overcome common skin lesion segmentation problems. Lastly, in the spirit of reproducible research, we implement models and codes publicly available.