IARS SegNet: Interpretable Attention Residual Skip connection SegNet for melanoma segmentation

Skin lesion segmentation plays a crucial role in the computer-aided diagnosis of melanoma. Deep Learning models have shown promise in accurately segmenting skin lesions, but their widespread adoption in real-life clinical settings is hindered by their inherent black-box nature. In domains as critical as healthcare, interpretability is not merely a feature but a fundamental requirement for model adoption. This paper proposes IARS SegNet an advanced segmentation framework built upon the SegNet baseline model. Our approach incorporates three critical components: Skip connections, residual convolutions, and a global attention mechanism onto the baseline Segnet architecture. These elements play a pivotal role in accentuating the significance of clinically relevant regions, particularly the contours of skin lesions. The inclusion of skip connections enhances the model's capacity to learn intricate contour details, while the use of residual convolutions allows for the construction of a deeper model while preserving essential image features. The global attention mechanism further contributes by extracting refined feature maps from each convolutional and deconvolutional block, thereby elevating the model's interpretability. This enhancement highlights critical regions, fosters better understanding, and leads to more accurate skin lesion segmentation for melanoma diagnosis.

Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning

Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table, and how to manipulate them. Consequently, it greatly influences the system's task-planning and motion-planning stacks that follow. We present a comprehensive overview and discuss the different challenges associated with the perception module. This work is a result of our extensive involvement in the ICRA 2022 Open Cloud Robot Table Organization Challenge, in which we currently stand first on the leaderboard (as of 24th of April 2022, the final week of the challenge).