Nuno Cruz Garcia

Guilherme Ribeiro, Iordanis Antypas, Leonardo Bizzaro et al.

Ensuring safety and reliability in human-robot interaction (HRI) requires the timely detection of unexpected events that could lead to system failures or unsafe behaviours. Anomaly detection thus plays a critical role in enabling robots to recognize and respond to deviations from normal operation during collaborative tasks. While reconstruction models have been actively explored in HRI, approaches that operate directly on feature vectors remain largely unexplored. In this work, we propose MADRI, a framework that first transforms video streams into semantically meaningful feature vectors before performing reconstruction-based anomaly detection. Additionally, we augment these visual feature vectors with the robot's internal sensors' readings and a Scene Graph, enabling the model to capture both external anomalies in the visual environment and internal failures within the robot itself. To evaluate our approach, we collected a custom dataset consisting of a simple pick-and-place robotic task under normal and anomalous conditions. Experimental results demonstrate that reconstruction on vision-based feature vectors alone is effective for detecting anomalies, while incorporating other modalities further improves detection performance, highlighting the benefits of multimodal feature reconstruction for robust anomaly detection in human-robot collaboration.

Hugo Figueiras, Helena Aidos, Nuno Cruz Garcia

Self-supervised learning has proven to be an effective way to learn representations in domains where annotated labels are scarce, such as medical imaging. A widely adopted framework for this purpose is contrastive learning and it has been applied to different scenarios. This paper seeks to advance our understanding of the contrastive learning framework by exploring a novel perspective: employing multi-organ datasets for pre-training models tailored to specific organ-related target tasks. More specifically, our target task is breast tumour segmentation in ultrasound images. The pre-training datasets include ultrasound images from other organs, such as the lungs and heart, and large datasets of natural images. Our results show that conventional contrastive learning pre-training improves performance compared to supervised baseline approaches. Furthermore, our pre-trained models achieve comparable performance when fine-tuned with only half of the available labelled data. Our findings also show the advantages of pre-training on diverse organ data for improving performance in the downstream task.