We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.
The work by @cite_67 uses a simple protocol that involves input and output surveys, a tutorial, and a challenge section. While they were focused on evaluating different methods of directing robot motion and attention, we used the same protocol structure for our own annotation tests.
@cite_67
2088147743
Graph-structured data arise naturally in many different application domains. By representing data as graphs, we can capture entities (i.e., nodes) as well as their relationships (i.e., edges) with each other. Many useful insights can be derived from graph-structured data as demonstrated by an ever-growing body of work focused on graph mining. However, in the real-world, graphs can be both large - with many complex patterns - and noisy which can pose a problem for effective graph mining. An effective way to deal with this issue is to incorporate "attention" into graph mining solutions. An attention mechanism allows a method to focus on task-relevant parts of the graph, helping it to make better decisions. In this work, we conduct a comprehensive and focused survey of the literature on the emerging field of graph attention models. We introduce three intuitive taxonomies to group existing work. These are based on problem setting (type of input and output), the type of attention mechanism used, and the task (e.g., graph classification, link prediction, etc.). We motivate our taxonomies through detailed examples and use each to survey competing approaches from a unique standpoint. Finally, we highlight several challenges in the area and discuss promising directions for future work. This survey focuses on intrusion detection systems (IDS) that leverage host-based data sources for detecting attacks on enterprise network. The host-based IDS (HIDS) literature is organized by the input data source, presenting targeted sub-surveys of HIDS research leveraging system logs, audit data, Windows Registry, file systems, and program analysis. While system calls are generally included in audit data, several publicly available system call datasets have spawned a flurry of IDS research on this topic, which merits a separate section. Similarly, a section surveying algorithmic developments that are applicable to HIDS but tested on network data sets is included, as this is a large and growing area of applicable literature. To accommodate current researchers, a supplementary section giving descriptions of publicly available datasets is included, outlining their characteristics and shortcomings when used for IDS evaluation. Related surveys are organized and described. All sections are accompanied by tables concisely organizing the literature and datasets discussed. Finally, challenges, trends, and broader observations are throughout the survey and in the conclusion along with future directions of IDS research. A method for automated selection of test sequences from a protocol specification given in Estelle for the purpose of testing both control and data flow aspects of a protocol implementation is discussed. First, a flowgraph modeling the flow of both control and data expressed in the given specification is constructed. In the flowgraph, definitions and uses of each context variable, as well as each input and output interaction parameter employed in the specification, are identified. Based on this information, associations between each output and those inputs that influence the output are established. Test sequences are selected to cover each such association at least once. The resulting test sequences are shown to provide the capability of checking whether a protocol implementation under test establishes the desired flow of both control and data expressed in the protocol specification. The proposed method is illustrated by using the class 0 transport protocol as an example. > Abstract Accurate and robust segmentation of abdominal organs on CT is essential for many clinical applications such as computer-aided diagnosis and computer-aided surgery. But this task is challenging due to the weak boundaries of organs, the complexity of the background, and the variable sizes of different organs. To address these challenges, we introduce a novel framework for multi-organ segmentation of abdominal regions by using organ-attention networks with reverse connections (OAN-RCs) which are applied to 2D views, of the 3D CT volume, and output estimates which are combined by statistical fusion exploiting structural similarity. More specifically, OAN is a two-stage deep convolutional network, where deep network features from the first stage are combined with the original image, in a second stage, to reduce the complex background and enhance the discriminative information for the target organs. Intuitively, OAN reduces the effect of the complex background by focusing attention so that each organ only needs to be discriminated from its local background. RCs are added to the first stage to give the lower layers more semantic information thereby enabling them to adapt to the sizes of different organs. Our networks are trained on 2D views (slices) enabling us to use holistic information and allowing efficient computation (compared to using 3D patches). To compensate for the limited cross-sectional information of the original 3D volumetric CT, e.g., the connectivity between neighbor slices, multi-sectional images are reconstructed from the three different 2D view directions. Then we combine the segmentation results from the different views using statistical fusion, with a novel term relating the structural similarity of the 2D views to the original 3D structure. To train the network and evaluate results, 13 structures were manually annotated by four human raters and confirmed by a senior expert on 236 normal cases. We tested our algorithm by 4-fold cross-validation and computed Dice–Sorensen similarity coefficients (DSC) and surface distances for evaluating our estimates of the 13 structures. Our experiments show that the proposed approach gives strong results and outperforms 2D- and 3D-patch based state-of-the-art methods in terms of DSC and mean surface distances.