The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS, has extended ROS's accessibility by facilitating installation across all major operating systems and architectures, integrating seamlessly with scientific tools such as PyTorch and Open3D. This paper presents ROS2WASM, a novel integration of RoboStack with WebAssembly, enabling the execution of ROS 2 and its associated software directly within web browsers, without requiring local installations. ROS2WASM significantly enhances the reproducibility and shareability of research, lowers barriers to robotics education, and leverages WebAssembly's robust security framework to protect against malicious code. We detail our methodology for cross-compiling ROS 2 packages into WebAssembly, the development of a specialized middleware for ROS 2 communication within browsers, and the implementation of www.ros2wasm.dev, a web platform enabling users to interact with ROS 2 environments. Additionally, we extend support to the Robotics Toolbox for Python and adapt its Swift simulator for browser compatibility. Our work paves the way for unprecedented accessibility in robotics, offering scalable, secure, and reproducible environments that have the potential to transform educational and research paradigms.

We propose a theoretical framework that generalizes simple and fast algorithms for hierarchical agglomerative clustering to weighted graphs with both attractive and repulsive interactions between the nodes. This framework defines GASP, a Generalized Algorithm for Signed graph Partitioning11Code available at: https://github.com/abailoni/GASP, and allows us to explore many combinations of different linkage criteria and cannotlink constraints. We prove the equivalence of existing clustering methods to some of those combinations and introduce new algorithms for combinations that have not been studied before. We study both theoretical and empirical properties of these combinations and prove that some of these define an ultrametric on the graph. We conduct a systematic comparison of various instantiations of GASP on a large variety of both synthetic and existing signed clustering problems, in terms of accuracy but also efficiency and robustness to noise. Lastly, we show that some of the algorithms included in our framework, when combined with the predictions from a CNN model, result in a simple bottom-up instance segmentation pipeline. Going all the way from pixels to final segments with a simple procedure, we achieve state-of-the-art accuracy on the CREMI 2016 EM segmentation benchmark without requiring domain-specific superpixels.

We present a novel approach to the problem of neuron segmentation in image volumes acquired by an electron microscopy. Existing methods, such as agglomerative or correlation clustering, rely solely on boundary evidence and have problems where such an evidence is lacking (e.g., incomplete staining) or ambiguous (e.g., co-located cell and mitochondria membranes). We investigate if these difficulties can be overcome by means of sparse region appearance cues that differentiate between pre- and postsynaptic neuron segments in mammalian neural tissue. We combine these cues with the traditional boundary evidence in the asymmetric multiway cut (AMWC) model, which simultaneously solves the partitioning and the semantic region labeling problems. We show that AMWC problems over superpixel graphs can be solved to global optimality with a cutting plane approach, and that the introduction of semantic class priors leads to significantly better segmentations.

Correlation clustering, or multicut partitioning, is widely used in image segmentation for partitioning an undirected graph or image with positive and negative edge weights such that the sum of cut edge weights is minimized. Due to its NP-hardness, exact solvers do not scale and approximative solvers often give unsatisfactory results. We investigate scalable methods for correlation clustering. To this end we define fusion moves for the correlation clustering problem. Our algorithm iteratively fuses the current and a proposed partitioning which monotonously improves the partitioning and maintains a valid partitioning at all times. Furthermore, it scales to larger datasets, gives near optimal solutions, and at the same time shows a good anytime performance.

Recently, unsupervised image segmentation has become increasingly popular. Starting from a superpixel segmentation, an edge-weighted region adjacency graph is constructed. Amongst all segmentations of the graph, the one which best conforms to the given image evidence, as measured by the sum of cut edge weights, is chosen. Since this problem is NP-hard, we propose a new approximate solver based on the move-making paradigm: first, the graph is recursively partitioned into small regions (cut phase). Then, for any two adjacent regions, we consider alternative cuts of these two regions defining possible moves (glue & cut phase). For planar problems, the optimal move can be found, whereas for non-planar problems, efficient approximations exist. We evaluate our algorithm on published and new benchmark datasets, which we make available here. The proposed algorithm finds segmentations that, as measured by a loss function, are as close to the ground-truth as the global optimum found by exact solvers. It does so significantly faster then existing approximate methods, which is important for large-scale problems.

We propose a novel graphical model for probabilistic image segmentation that contributes both to aspects of perceptual grouping in connection with image segmentation, and to globally optimal inference with higher-order graphical models. We represent image partitions in terms of cellular complexes in order to make the duality between connected regions and their contours explicit. This allows us to formulate a graphical model with higher-order factors that represent the requirement that all contours must be closed. The model induces a probability measure on the space of all partitions, concentrated on perceptually meaningful segmentations. We give a complete polyhedral characterization of the resulting global inference problem in terms of the multicut polytope and efficiently compute global optima by a cutting plane method. Competitive results for the Berkeley segmentation benchmark confirm the consistency of our approach.