Accurate and efficient segmentation of unknown objects in unstructured environments is essential for robotic manipulation. Unknown Object Instance Segmentation (UOIS), which aims to identify all objects in unknown categories and backgrounds, has become a key capability for various robotic tasks. However, existing methods struggle with over-segmentation and under-segmentation, leading to failures in manipulation tasks such as grasping. To address these challenges, we propose QuBER (Quadruple Boundary Error Refinement), a novel error-informed refinement approach for high-quality UOIS. QuBER first estimates quadruple boundary errors-true positive, true negative, false positive, and false negative pixels-at the instance boundaries of the initial segmentation. It then refines the segmentation using an error-guided fusion mechanism, effectively correcting both fine-grained and instance-level segmentation errors. Extensive evaluations on three public benchmarks demonstrate that QuBER outperforms state-of-the-art methods and consistently improves various UOIS methods while maintaining a fast inference time of less than 0.1 seconds. Furthermore, we show that QuBER improves the success rate of grasping target objects in cluttered environments. Code and supplementary materials are available at https://sites.google.com/view/uois-quber.

Recently, sentiment-aware pre-trained language models (PLMs) demonstrate impressive results in downstream sentiment analysis tasks. However, they neglect to evaluate the quality of their constructed sentiment representations; they just focus on improving the fine-tuning performance, which overshadows the representation quality. We argue that without guaranteeing the representation quality, their downstream performance can be highly dependent on the supervision of the fine-tuning data rather than representation quality. This problem would make them difficult to foray into other sentiment-related domains, especially where labeled data is scarce. We first propose Sentiment-guided Textual Similarity (SgTS), a novel metric for evaluating the quality of sentiment representations, which is designed based on the degree of equivalence in sentiment polarity between two sentences. We then propose SentiCSE, a novel Sentiment-aware Contrastive Sentence Embedding framework for constructing sentiment representations via combined word-level and sentence-level objectives, whose quality is guaranteed by SgTS. Qualitative and quantitative comparison with the previous sentiment-aware PLMs shows the superiority of our work. Our code is available at: https://github.com/nayohan/SentiCSE

The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result in insertion failures or jamming. This research introduces PolyFit, representing a paradigm shift by transitioning from a reinforcement learning approach to a supervised learning methodology. PolyFit is a Force/Torque (F/T)-based supervised learning framework designed for 5-DoF peg-in-hole assembly. It utilizes F/T data for accurate extrinsic pose estimation and adjusts the peg pose to rectify misalignments. Extensive training in a simulated environment involves a dataset encompassing a diverse range of peg-hole shapes, extrinsic poses, and their corresponding contact F/T readings. The study proposes a sim-to-real adaptation method for real-world application, using a sim-real paired dataset to enable effective generalization to complex and unseen polygon shapes. Real-world evaluations demonstrate substantial success rates of 96.7% and 91.3%, highlighting the robustness and adaptability of the proposed method. Videos of data generation and experiments are available online at https://sites.google.com/view/polyfit-peginhole.

Deep neural networks have demonstrated remarkable performance in various vision tasks, but their success heavily depends on the quality of the training data. Noisy labels are a critical issue in medical datasets and can significantly degrade model performance. Previous clean sample selection methods have not utilized the well pre-trained features of vision foundation models (VFMs) and assumed that training begins from scratch. In this paper, we propose CUFIT, a curriculum fine-tuning paradigm of VFMs for medical image classification under label noise. Our method is motivated by the fact that linear probing of VFMs is relatively unaffected by noisy samples, as it does not update the feature extractor of the VFM, thus robustly classifying the training samples. Subsequently, curriculum fine-tuning of two adapters is conducted, starting with clean sample selection from the linear probing phase. Our experimental results demonstrate that CUFIT outperforms previous methods across various medical image benchmarks. Specifically, our method surpasses previous baselines by 5.0\%, 2.1\%, 4.6\%, and 5.8\% at a 40\% noise rate on the HAM10000, APTOS-2019, BloodMnist, and OrgancMnist datasets, respectively. Furthermore, we provide extensive analyses to demonstrate the impact of our method on noisy label detection. For instance, our method shows higher label precision and recall compared to previous approaches. Our work highlights the potential of leveraging VFMs in medical image classification under challenging conditions of noisy labels.