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.
@cite_8 uses a database of preplanned grasps, as well as an online planner to help a user find appropriate grasps. Time and success rate was computed for five subjects attempting three tasks. While five subjects is a small number, results indicate trends and allow the research to hone in on the appropriate refinements for a more in-depth evaluation.
@cite_8
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To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D models from Dex-Net 1.0 in randomized poses on a table. We use the resulting dataset, Dex-Net 2.0, to train a Grasp Quality Convolutional Neural Network (GQ-CNN) model that rapidly predicts the probability of success of grasps from depth images, where grasps are specified as the planar position, angle, and depth of a gripper relative to an RGB-D sensor. Experiments with over 1,000 trials on an ABB YuMi comparing grasp planning methods on singulated objects suggest that a GQ-CNN trained with only synthetic data from Dex-Net 2.0 can be used to plan grasps in 0.8sec with a success rate of 93 on eight known objects with adversarial geometry and is 3x faster than registering point clouds to a precomputed dataset of objects and indexing grasps. The Dex-Net 2.0 grasp planner also has the highest success rate on a dataset of 10 novel rigid objects and achieves 99 precision (one false positive out of 69 grasps classified as robust) on a dataset of 40 novel household objects, some of which are articulated or deformable. Code, datasets, videos, and supplementary material are available at http: berkeleyautomation.github.io dex-net . To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D models from Dex-Net 1.0 in randomized poses on a table. We use the resulting dataset, Dex-Net 2.0, to train a Grasp Quality Convolutional Neural Network (GQ-CNN) model that rapidly predicts the probability of success of grasps from depth images, where grasps are specified as the planar position, angle, and depth of a gripper relative to an RGB-D sensor. Experiments with over 1,000 trials on an ABB YuMi comparing grasp planning methods on singulated objects suggest that a GQ-CNN trained with only synthetic data from Dex-Net 2.0 can be used to plan grasps in 0.8sec with a success rate of 93 on eight known objects with adversarial geometry and is 3x faster than registering point clouds to a precomputed dataset of objects and indexing grasps. The Dex-Net 2.0 grasp planner also has the highest success rate on a dataset of 10 novel rigid objects and achieves 99 precision (one false positive out of 69 grasps classified as robust) on a dataset of 40 novel household objects, some of which are articulated or deformable. Code, datasets, videos, and supplementary material are available at this http URL . Objective A system that translates narrative text in the medical domain into structured representation is in great demand. The system performs three sub-tasks: concept extraction, assertion classification, and relation identification. @PARASPLIT Design The overall system consists of five steps: (1) pre-processing sentences, (2) marking noun phrases (NPs) and adjective phrases (APs), (3) extracting concepts that use a dosage-unit dictionary to dynamically switch two models based on Conditional Random Fields (CRF), (4) classifying assertions based on voting of five classifiers, and (5) identifying relations using normalized sentences with a set of effective discriminating features. @PARASPLIT Measurements Macro-averaged and micro-averaged precision, recall and F-measure were used to evaluate results. @PARASPLIT Results The performance is competitive with the state-of-the-art systems with micro-averaged F-measure of 0.8489 for concept extraction, 0.9392 for assertion classification and 0.7326 for relation identification. @PARASPLIT Conclusions The system exploits an array of common features and achieves state-of-the-art performance. Prudent feature engineering sets the foundation of our systems. In concept extraction, we demonstrated that switching models, one of which is especially designed for telegraphic sentences, improved extraction of the treatment concept significantly. In assertion classification, a set of features derived from a rule-based classifier were proven to be effective for the classes such as conditional and possible. These classes would suffer from data scarcity in conventional machine-learning methods. In relation identification, we use two-staged architecture, the second of which applies pairwise classifiers to possible candidate classes. This architecture significantly improves performance. This paper is the second in a two-part series analyzing human grasping behavior during a wide range of unstructured tasks. It investigates the tasks performed during the daily work of two housekeepers and two machinists and correlates grasp type and object properties with the attributes of the tasks being performed. The task or activity is classified according to the force required, the degrees of freedom, and the functional task type. We found that 46 percent of tasks are constrained, where the manipulated object is not allowed to move in a full six degrees of freedom. Analyzing the interrelationships between the grasp, object, and task data show that the best predictors of the grasp type are object size, task constraints, and object mass. Using these attributes, the grasp type can be predicted with 47 percent accuracy. Those parameters likely make useful heuristics for grasp planning systems. The results further suggest the common sub-categorization of grasps into power, intermediate, and precision categories may not be appropriate, indicating that grasps are generally more multi-functional than previously thought. We find large and heavy objects are grasped with a power grasp, but small and lightweight objects are not necessarily grasped with precision grasps—even with grasped object size less than 2 cm and mass less than 20 g, precision grasps are only used 61 percent of the time. These results have important implications for robotic hand design and grasp planners, since it appears while power grasps are frequently used for heavy objects, they can still be quite practical for small, lightweight objects. When we write or prepare to write a research paper, we always have appropriate references in mind. However, there are most likely references we have missed and should have been read and cited. As such a good citation recommendation system would not only improve our paper but, overall, the efficiency and quality of literature search. Usually, a citation's context contains explicit words explaining the citation. Using this, we propose a method that "translates" research papers into references. By considering the citations and their contexts from existing papers as parallel data written in two different "languages", we adopt the translation model to create a relationship between these two "vocabularies". Experiments on both CiteSeer and CiteULike dataset show that our approach outperforms other baseline methods and increase the precision, recall and f-measure by at least 5 to 10 , respectively. In addition, our approach runs much faster in the both training and recommending stage, which proves the effectiveness and the scalability of our work. While the study of the connection between discourse patterns and personal identification is decades old, the study of these patterns using language technologies is relatively recent. In that more recent tradition we frame author age prediction from text as a regression problem. We explore the same task using three very different genres of data simultaneously: blogs, telephone conversations, and online forum posts. We employ a technique from domain adaptation that allows us to train a joint model involving all three corpora together as well as separately and analyze differences in predictive features across joint and corpus-specific aspects of the model. Effective features include both stylistic ones (such as POS patterns) as well as content oriented ones. Using a linear regression model based on shallow text features, we obtain correlations up to 0.74 and mean absolute errors between 4.1 and 6.8 years. This paper presents a method for one-shot learning of dexterous grasps and grasp generation for novel objects. A model of each grasp type is learned from a single kinesthetic demonstration and several types are taught. These models are used to select and generate grasps for unfamiliar objects. Both the learning and generation stages use an incomplete point cloud from a depth camera, so no prior model of an object shape is used. The learned model is a product of experts, in which experts are of two types. The first type is a contact model and is a density over the pose of a single hand link relative to the local object surface. The second type is the hand-configuration model and is a density over the whole-hand configuration. Grasp generation for an unfamiliar object optimizes the product of these two model types, generating thousands of grasp candidates in under 30 seconds. The method is robust to incomplete data at both training and testing stages. When several grasp types are considered the method selects the highest-likelihood grasp across all the types. In an experiment, the training set consisted of five different grasps and the test set of 45 previously unseen objects. The success rate of the first-choice grasp is 84.4 or 77.7 if seven views or a single view of the test object are taken, respectively. This paper describes the SemEval-2014, Task 7 on the Analysis of Clinical Text and presents the evaluation results. It focused on two subtasks: (i) identification (Task A) and (ii) normalization (Task B) of diseases and disorders in clinical reports as annotated in the Shared Annotated Resources (ShARe) 1 corpus. This task was a follow-up to the ShARe CLEF eHealth 2013 shared task, subtasks 1a and 1b, 2 but using a larger test set. A total of 21 teams competed in Task A, and 18 of those also participated in Task B. For Task A, the best system had a strict F1-score of 81.3, with a precision of 84.3 and recall of 78.6. For Task B, the same group had the best strict accuracy of 74.1. The organizers have made the text corpora, annotations, and evaluation tools available for future research and development at the shared task website. 3 Collecting grasp data for learning and benchmarking purposes is very expensive. It would be helpful to have a standard database of graspable objects, along with a set of stable grasps for each object, but no such database exists. In this work we show how to automate the construction of a database consisting of several hands, thousands of objects, and hundreds of thousands of grasps. Using this database, we demonstrate a novel grasp planning algorithm that exploits geometric similarity between a 3D model and the objects in the database to synthesize form closure grasps. Our contributions are this algorithm, and the database itself, which we are releasing to the community as a tool for both grasp planning and benchmarking. Objective : Development of a general natural-language processor that identifies clinical information in narrative reports and maps that information into a structured representation containing clinical terms. @PARASPLIT Design : The natural-language processor provides three phases of processing, all of which are driven by different knowledge sources. The first phase performs the parsing. It identifies the structure of the text through use of a grammar that defines semantic patterns and a target form. The second phase, regularization, standardizes the terms in the initial target structure via a compositional mapping of multi-word phrases. The third phase, encoding, maps the terms to a controlled vocabulary. Radiology is the test domain for the processor and the target structure is a formal model for representing clinical information in that domain. @PARASPLIT Measurements : The impression sections of 230 radiology reports were encoded by the processor. Results of an automated query of the resultant database for the occurrences of four diseases were compared with the analysis of a panel of three physicians to determine recall and precision. @PARASPLIT Results : Without training specific to the four diseases, recall and precision of the system(combined effect of the processor and query generator) were 70 and 87 . Training of the query component increased recall to 85 without changing precision. Grasp quality metrics which analyze the contact wrench space are commonly used to synthesize and analyze preplanned grasps. Preplanned grasping approaches rely on the robustness of stored solutions. Analyzing the robustness of such solutions for large databases of preplanned grasps is a limiting factor for the applicability of data driven approaches to grasping. In this work, we will focus on the stability of the widely used grasp wrench space epsilon quality metric over a large range of poses in simulation. We examine a large number of grasps from the Columbia Grasp Database for the Barrett hand. We find that in most cases the grasp with the most robust force closure with respect to pose error for a particular object is not the grasp with the highest epsilon quality. We demonstrate that grasps can be reranked by an estimate of the stability of their epsilon quality. We find that the grasps ranked best by this method are successful more often in physical experiments than grasps ranked best by the epsilon quality. Some large scale topical digital libraries, such as CiteSeer, harvest online academic documents by crawling open-access archives, university and author homepages, and authors' self-submissions. While these approaches have so far built reasonable size libraries, they can suffer from having only a portion of the documents from specific publishing venues. We propose to use alternative online resources and techniques that maximally exploit other resources to build the complete document collection of any given publication venue. We investigate the feasibility of using publication metadata to guide the crawler towards authors' homepages to harvest what is missing from a digital library collection. We collect a real-world dataset from two Computer Science publishing venues, involving a total of 593 unique authors over a time frame of 1998 to 2004. We then identify the missing papers that are not indexed by CiteSeer. Using a fully automatic heuristic-based system that has the capability of locating authors' homepages and then using focused crawling to download the desired papers, we demonstrate that it is practical to harvest using a focused crawler academic papers that are missing from our digital library. Our harvester achieves a performance with an average recall level of 0.82 overall and 0.75 for those missing documents. Evaluation of the crawler's performance based on the harvest rate shows definite advantages over other crawling approaches and consistently outperforms a defined baseline crawler on a number of measures In this paper, we present results from a study of prehensile human hand use during the daily work activities of four subjects: two housekeepers and two machinists. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities in their typical place of work. For each subject, 7.45 hours of video was analyzed, recording the type of grasp being used and its duration. From this data, we extracted overall grasp frequency, duration distributions for each grasp, and common transitions between grasps. The results show that for 80 percent of the study duration the housekeepers used just five grasps and the machinists used 10. The grasping patterns for the different subjects were compared, and the overall top 10 grasps are discussed in detail. The results of this study not only lend insight into how people use their hands during daily tasks, but can also inform the design of effective robotic and prosthetic hands. We present an example-based planning framework to generate semantic grasps, stable grasps that are functionally suitable for specific object manipulation tasks. We propose to use partial object geometry, tactile contacts, and hand kinematic data as proxies to encode task-related constraints, which we call semantic constraints. We introduce a semantic affordance map, which relates local geometry to a set of predefined semantic grasps that are appropriate to different tasks. Using this map, the pose of a robot hand with respect to the object can be estimated so that the hand is adjusted to achieve the ideal approach direction required by a particular task. A grasp planner is then used to search along this approach direction and generate a set of final grasps which have appropriate stability, tactile contacts, and hand kinematics. We show experiments planning semantic grasps on everyday objects and applying these grasps with a physical robot. Objective Despite at least 40 years of promising empirical performance, very few clinical natural language processing (NLP) or information extraction systems currently contribute to medical science or care. The authors address this gap by reducing the need for custom software and rules development with a graphical user interface-driven, highly generalizable approach to concept-level retrieval. @PARASPLIT Materials and methods A ‘learn by example’ approach combines features derived from open-source NLP pipelines with open-source machine learning classifiers to automatically and iteratively evaluate top-performing configurations. The Fourth i2b2 VA Shared Task Challenge's concept extraction task provided the data sets and metrics used to evaluate performance. @PARASPLIT Results Top F-measure scores for each of the tasks were medical problems (0.83), treatments (0.82), and tests (0.83). Recall lagged precision in all experiments. Precision was near or above 0.90 in all tasks. @PARASPLIT Discussion With no customization for the tasks and less than 5 min of end-user time to configure and launch each experiment, the average F-measure was 0.83, one point behind the mean F-measure of the 22 entrants in the competition. Strong precision scores indicate the potential of applying the approach for more specific clinical information extraction tasks. There was not one best configuration, supporting an iterative approach to model creation. @PARASPLIT Conclusion Acceptable levels of performance can be achieved using fully automated and generalizable approaches to concept-level information extraction. The described implementation and related documentation is available for download. Modern large retrieval environments tend to overwhelm their users by their large output. Since all documents are not of equal relevance to their users, highly relevant documents should be identified and ranked first for presentation. In order to develop IR techniques in this direction, it is necessary to develop evaluation approaches and methods that credit IR methods for their ability to retrieve highly relevant documents. This can be done by extending traditional evaluation methods, that is, recall and precision based on binary relevance judgments, to graded relevance judgments. Alternatively, novel measures based on graded relevance judgments may be developed. This article proposes several novel measures that compute the cumulative gain the user obtains by examining the retrieval result up to a given ranked position. The first one accumulates the relevance scores of retrieved documents along the ranked result list. The second one is similar but applies a discount factor to the relevance scores in order to devaluate late-retrieved documents. The third one computes the relative-to-the-ideal performance of IR techniques, based on the cumulative gain they are able to yield. These novel measures are defined and discussed and their use is demonstrated in a case study using TREC data: sample system run results for 20 queries in TREC-7. As a relevance base we used novel graded relevance judgments on a four-point scale. The test results indicate that the proposed measures credit IR methods for their ability to retrieve highly relevant documents and allow testing of statistical significance of effectiveness differences. The graphs based on the measures also provide insight into the performance IR techniques and allow interpretation, for example, from the user point of view. We design an example based planning framework to generate semantic grasps, stable grasps that are functionally suitable for specific object manipulation tasks. We propose to use partial object geometry, tactile contacts, and hand kinematic data as proxies to encode semantic constraints, which are task-related constraints. We introduce a semantic affordance map, which relates local geometry to a set of predefined semantic grasps that are appropriate to different tasks. Using this map, the pose of a robotic hand can be estimated so that the hand is adjusted to achieve the ideal approach direction required by a particular task. A grasp planner is then used to generate a set of final grasps which have appropriate stability, tactile contacts, and hand kinematics along this approach direction. We show experiments planning semantic grasps on everyday objects and executing these grasps with a physical robot. This paper is the first of a two-part series analyzing human grasping behavior during a wide range of unstructured tasks. The results help clarify overall characteristics of human hand to inform many domains, such as the design of robotic manipulators, targeting rehabilitation toward important hand functionality, and designing haptic devices for use by the hand. It investigates the properties of objects grasped by two housekeepers and two machinists during the course of almost 10,000 grasp instances and correlates the grasp types used to the properties of the object. We establish an object classification that assigns each object properties from a set of seven classes, including mass, shape and size of the grasp location, grasped dimension, rigidity, and roundness. The results showed that 55 percent of grasped objects had at least one dimension larger than 15 cm, suggesting that more than half of objects cannot physically be grasped using their largest axis. Ninety-two percent of objects had a mass of 500 g or less, implying that a high payload capacity may be unnecessary to accomplish a large subset of human grasping behavior. In terms of grasps, 96 percent of grasp locations were 7 cm or less in width, which can help to define requirements for hand rehabilitation and defines a reasonable grasp aperture size for a robotic hand. Subjects grasped the smallest overall major dimension of the object in 94 percent of the instances. This suggests that grasping the smallest axis of an object could be a reliable default behavior to implement in grasp planners. In this paper we present some new methods of ranking information retrieval systems without relevance judgement. The common ground of these methods is using a measure we called reference count. An extensive experimentation was conducted to evaluate the effectiveness of the proposed methods using various different standards Information Retrieval evaluation measures for the ranking, like average precision, R-precision, and precision and different document levels. We also compared the effectiveness of the proposed methods with the method proposed by The experimental results showed that the proposed methods are effective, and in many cases are more effective than Soboroff at al.'s method. Abstract : Three readability formulas were recalculated to be more suitable for Navy use. The three formulas are the Automated Readability Index (ARI), Fog Count, and Flesch Reading Ease Formula. They were derived from test results of 531 Navy enlisted personnel enrolled in four technical training schools. Personnel were tested for their reading comprehension level according to the comprehension section of the Gates-McGinitie reading test. At the same time, they were tested for their comprehension of 18 passages taken from Rate Training Manuals. Scores on the reading test and training material passages allowed the calculation of the grade level of the passages. This scaled reading grade level is based on Navy personnel reading Navy training material and comprehending it.