Optimization-Based Motion Generation for Buzzwire Tasks With the REEM-C Humanoid Robot.

Buzzwire tasks are often used as benchmarks and as training environments for fine motor skills and high precision path following. These tasks require moving a wire loop along an arbitrarily shaped wire obstacle in a collision-free manner. While there have been some demonstrations of buzzwire tasks with robotic manipulators using reinforcement learning and admittance control, there does not seem to be any examples with humanoid robots.

Combined Transfer Learning and Test-Time Augmentation Improves Convolutional Neural Network-Based Semantic Segmentation of Prostate Cancer from Multi-Parametric MR Images.

Purpose: Multiparametric MRI (mp-MRI) is a widely used tool for diagnosing and staging prostate cancer. The purpose of this study was to evaluate whether transfer learning, unsupervised pre-training and test-time augmentation significantly improved the performance of a convolutional neural network (CNN) for pixel-by-pixel prediction of cancer vs. non-cancer using mp-MRI datasets.

Model-free prostate cancer segmentation from dynamic contrast-enhanced MRI with recurrent convolutional networks: A feasibility study.

Dynamic contrast enhanced (DCE) magnetic resonance imaging (MRI) is a method of temporal imaging that is commonly used to aid in prostate cancer (PCa) diagnosis and staging. Typically, machine learning models designed for the segmentation and detection of PCa will use an engineered scalar image called K to summarize the information in the DCE time-series images. This work proposes a new model that amalgamates the U-net and the convGRU neural network architectures for the purpose of interpreting DCE time-series in a temporal and spatial basis for segmenting PCa in MR images.