The quantitative analysis of cellular membranes helps understanding developmental processes at the cellular level. Particularly 3D microscopic image data offers valuable insights into cell dynamics, but error-free automatic segmentation remains challenging due to the huge amount of data generated and strong variations in image intensities. In this paper, we propose a new 3D segmentation approach which combines the discriminative power of convolutional neural networks (CNNs) for preprocessing and investigates the performance of three watershed-based postprocessing strategies (WS), which are well suited to segment object shapes, even when supplied with vague seed and boundary constraints. To leverage the full potential of the watershed algorithm, the multi-instance segmentation problem is initially interpreted as three-class semantic segmentation problem, which in turn is well-suited for the application of CNNs. Using manually annotated 3D confocal microscopy images of Arabidopsis thaliana, we show the superior performance of the proposed method compared to the state of the art.
Fundamental to robotics is the debate between model-based and model-free learning: should the robot build an explicit model of the world, or learn a policy directly? In the context of HRI, part of the world to be modeled is the human. One option is for the robot to treat the human as a black box and learn a policy for how they act directly. But it can also model the human as an agent, and rely on a "theory of mind" to guide or bias the learning (grey box). We contribute a characterization of the performance of these methods under the optimistic case of having an ideal theory of mind, as well as under different scenarios in which the assumptions behind the robot's theory of mind for the human are wrong, as they inevitably will be in practice. We find that there is a significant sample complexity advantage to theory of mind methods and that they are more robust to covariate shift, but that when enough interaction data is available, black box approaches eventually dominate.Index Terms-theory of mind, inverse RL, model-based RL, model-free RL, sample complexity
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