Abstract-We present the Computer Expression Recognition Toolbox (CERT), a software tool for fully automatic real-time facial expression recognition, and officially release it for free academic use. CERT can automatically code the intensity of 19 different facial actions from the Facial Action Unit Coding System (FACS) and 6 different protoypical facial expressions. It also estimates the locations of 10 facial features as well as the 3-D orientation (yaw, pitch, roll) of the head. On a database of posed facial expressions, Extended Cohn-Kanade (CK+ [1]), CERT achieves an average recognition performance (probability of correctness on a two-alternative forced choice (2AFC) task between one positive and one negative example) of 90.1% when analyzing facial actions. On a spontaneous facial expression dataset, CERT achieves an accuracy of nearly 80%. In a standard dual core laptop, CERT can process 320 × 240 video images in real time at approximately 10 frames per second.

This paper presents a momentum-based control framework for floating-base robots and its application to the humanoid robot “Atlas”. At the heart of the control framework lies a quadratic program that reconciles motion tasks expressed as constraints on the joint acceleration vector with the limitations due to unilateral ground contact and force-limited grasping. We elaborate on necessary adaptations required to move from simulation to real hardware and present results for walking across rough terrain, basic manipulation, and multi-contact balancing on sloped surfaces (the latter in simulation only). The presented control framework was used to secure second place in both the DARPA Robotics Challenge Trials in December 2013 and the Finals in June 2015.

This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for human‐robot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.

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Purpose To develop and validate an integrated model for discriminating tumor recurrence from radiation necrosis in glioma patients. Methods Data from 160 pathologically confirmed glioma patients were analyzed. The diagnostic model was developed in a primary cohort (n = 112). Textural features were extracted from postoperative 18 F-fluorodeoxyglucose (18 F-FDG) positron emission tomography (PET), 11 C-methionine (11 C-MET) PET, and magnetic resonance images. The least absolute shrinkage and selection operator regression model was used for feature selection and radiomics signature building. Multivariable logistic regression analysis was used to develop a model for predicting tumor recurrence. The radiomics signature, quantitative PET parameters, and clinical risk factors were incorporated in the model. The clinical value of the model was then assessed in an independent validation cohort using the remaining 48 glioma patients. Results The integrated model consisting of 15 selected features was significantly associated with postoperative tumor recurrence (p < 0.001 for both primary and validation cohorts). Predictors contained in the individualized diagnosis model included the radiomics signature, the mean of tumor-background ratio (TBR) of 18 F-FDG, maximum of TBR of 11 C-MET PET, and patient age. The integrated model demonstrated good discrimination, with an area under the curve (AUC) of 0.988, with a 95% confidence interval (CI) of 0.975-1.000. Application in the validation cohort showed good differentiation (AUC of 0.914 and 95% CI of 0.881-0.945). Decision curve analysis showed that the integrated diagnosis model was clinically useful. Conclusions Our developed model could be used to assist the postoperative individualized diagnosis of tumor recurrence in patients with gliomas.

Background: Neoadjuvant chemotherapy is a promising treatment option for potential resectable gastric cancer, but patients' responses vary. We aimed to develop and validate a radiomics score (rad_score) to predict treatment response to neoadjuvant chemotherapy and to investigate its efficacy in survival stratification. Methods: A total of 106 patients with neoadjuvant chemotherapy before gastrectomy were included (training cohort: n = 74; validation cohort: n = 32). Radiomics features were extracted from the pre-treatment portal venousphase CT. After feature reduction, a rad_score was established by Randomised Tree algorithm. A rad_clinical_score was constructed by integrating the rad_score with clinical variables, so was a clinical score by clinical variables only. The three scores were validated regarding their discrimination and clinical usefulness. The patients were stratified into two groups according to the score thresholds (updated with post-operative clinical variables), and their survivals were compared. Results: In the validation cohort, the rad_score demonstrated a good predicting performance in treatment response to the neoadjuvant chemotherapy (AUC [95% CI] =0.82 [0.67, 0.98]), which was better than the clinical score (based on pre-operative clinical variables) without significant difference (0.62 [0.42, 0.83], P = 0.09). The rad_ clinical_score could not further improve the performance of the rad_score (0.70 [0.51, 0.88], P = 0.16). Based on the thresholds of these scores, the high-score groups all achieved better survivals than the low-score groups in the whole cohort (all P < 0.001). Conclusion: The rad_score that we developed was effective in predicting treatment response to neoadjuvant chemotherapy and in stratifying patients with gastric cancer into different survival groups. Our proposed strategy is useful for individualised treatment planning.

Purpose: The aim of this study was to investigate the value of radiomics analysis of iodine-based material decomposition (MD) images with dual-energy computed tomography (DECT) imaging for preoperatively predicting microsatellite instability (MSI) status in colorectal cancer (CRC).Methods: This study included 102 CRC patients proved by postoperative pathology, and their MSI status was confirmed by immunohistochemistry staining. All patients underwent preoperative DECT imaging scanned on either a Revolution CT or Discovery CT 750HD scanner, and the iodine-based MD images in the venous phase were reconstructed. The clinical, CT-reported, and radiomics features were obtained and analyzed. Data from the Revolution CT scanner were used to establish a radiomics model to predict MSI status (70% samples were randomly selected as the training set, and the remaining samples were used to validate); and data from the Discovery CT 750HD scanner were used to test the radiomics model. The stable radiomics features with both inter-user and intra-user stability were selected for the next analysis. The feature dimension reduction was performed by using Student's t-test or Mann–Whitney U-test, Spearman's rank correlation test, min–max standardization, one-hot encoding, and least absolute shrinkage and selection operator selection method. The multiparameter logistic regression model was established to predict MSI status. The model performances were evaluated: The discrimination performance was accessed by receiver operating characteristic (ROC) curve analysis; the calibration performance was tested by calibration curve accompanied by Hosmer–Lemeshow test; the clinical utility was assessed by decision curve analysis.Results: Nine top-ranked features were finally selected to construct the radiomics model. In the training set, the area under the ROC curve (AUC) was 0.961 (accuracy: 0.875; sensitivity: 1.000; specificity: 0.812); in the validation set, the AUC was 0.918 (accuracy: 0.875; sensitivity: 0.875; specificity: 0.857). In the testing set, the diagnostic performance was slightly lower with AUC of 0.875 (accuracy: 0.788; sensitivity: 0.909; specificity: 0.727). A nomogram based on clinical factors and radiomics score was generated via the proposed logistic regression model. Good calibration and clinical utility were observed using the calibration and decision curve analyses, respectively.Conclusion: Radiomics analysis of iodine-based MD images with DECT imaging holds great potential to predict MSI status in CRC patients.