Mehmet Eren

Negin Amirshirzad, Mehmet Arda Eren, Erhan Oztop

In this paper, we propose a novel lightweight learning from demonstration (LfD) model based on reservoir computing that can learn and generate multiple movement trajectories with prediction intervals, which we call as Context-based Echo State Network with prediction confidence (CESN+). CESN+ can generate movement trajectories that may go beyond the initial LfD training based on a desired set of conditions while providing confidence on its generated output. To assess the abilities of CESN+, we first evaluate its performance against Conditional Neural Movement Primitives (CNMP), a comparable framework that uses a conditional neural process to generate movement primitives. Our findings indicate that CESN+ not only outperforms CNMP but is also faster to train and demonstrates impressive performance in generating trajectories for extrapolation cases. In human-robot shared control applications, the confidence of the machine generated trajectory is a key indicator of how to arbitrate control sharing. To show the usability of the CESN+ for human-robot adaptive shared control, we have designed a proof-of-concept human-robot shared control task and tested its efficacy in adapting the sharing weight between the human and the robot by comparing it to a fixed-weight control scheme. The simulation experiments show that with CESN+ based adaptive sharing the total human load in shared control can be significantly reduced. Overall, the developed CESN+ model is a strong lightweight LfD system with desirable properties such fast training and ability to extrapolate to the new task parameters while producing robust prediction intervals for its output.

Xingwei He, Kit Mills Bransby, Ahmet Emir Ulutas et al.

Aims: To develop a deep-learning (DL) framework that will allow fully automated longitudinal and circumferential co-registration of intravascular ultrasound (IVUS) and optical coherence tomography (OCT) images. Methods and results: Data from 230 patients (714 vessels) with acute coronary syndrome that underwent near-infrared spectroscopy (NIRS)-IVUS and OCT imaging in their non-culprit vessels were included in the present analysis. The lumen borders annotated by expert analysts in 61,655 NIRS-IVUS and 62,334 OCT frames, and the side branches and calcific tissue identified in 10,000 NIRS-IVUS frames and 10,000 OCT frames, were used to train DL solutions for the automated extraction of these features. The trained DL solutions were used to process NIRS-IVUS and OCT images and their output was used by a dynamic time warping algorithm to co-register longitudinally the NIRS-IVUS and OCT images, while the circumferential registration of the IVUS and OCT was optimized through dynamic programming. On a test set of 77 vessels from 22 patients, the DL method showed high concordance with the expert analysts for the longitudinal and circumferential co-registration of the two imaging sets (concordance correlation coefficient >0.99 for the longitudinal and >0.90 for the circumferential co-registration). The Williams Index was 0.96 for longitudinal and 0.97 for circumferential co-registration, indicating a comparable performance to the analysts. The time needed for the DL pipeline to process imaging data from a vessel was <90s. Conclusion: The fully automated, DL-based framework introduced in this study for the co-registration of IVUS and OCT is fast and provides estimations that compare favorably to the expert analysts. These features renders it useful in research in the analysis of large-scale data collected in studies that incorporate multimodality imaging to characterize plaque composition.

Mehmet Arda Eren, Erhan Oztop

In self-supervised robotic learning, agents acquire data through active interaction with their environment, incurring costs such as energy use, human oversight, and experimental time. To mitigate these, sample-efficient exploration is essential. While intrinsic motivation (IM) methods like learning progress (LP) are widely used in robotics, and active learning (AL) is well established for classification in machine learning, few frameworks address continuous, high-dimensional regression tasks typical of world model learning. We propose MUSEL (Model Uncertainty for Sample-Efficient Learning), a novel AL framework tailored for regression tasks in robotics, such as action-effect prediction. MUSEL introduces a model uncertainty metric that combines total predictive uncertainty, learning progress, and input diversity to guide data acquisition. We validate our approach using a Stochastic Variational Deep Kernel Learning (SVDKL) model in two robotic tabletop tasks. Experimental results demonstrate that MUSEL improves both learning accuracy and sample efficiency, validating its effectiveness in learning action effects and selecting informative samples.