Ravestate: Distributed Composition of a Causal-Specificity-Guided Interaction Policy

In human-robot interaction policy design, a rule-based method is efficient, explainable, expressive and intuitive. In this paper, we present the Signal-Rule-Slot framework, which refines prior work on rule-based symbol system design and introduces a new, Bayesian notion of interaction rule utility called Causal Pathway Self-information. We offer a rigorous theoretical foundation as well as a rich open-source reference implementation Ravestate, with which we conduct user studies in text-, speech-, and vision-based scenarios. The experiments show robust contextual behaviour of our probabilistically informed rule-based system, paving the way for more effective human-machine interaction.

Application of the nnU-Net for automatic segmentation of lung lesion on CT images, and implication on radiomic models

Lesion segmentation is a crucial step of the radiomic workflow. Manual segmentation requires long execution time and is prone to variability, impairing the realisation of radiomic studies and their robustness. In this study, a deep-learning automatic segmentation method was applied on computed tomography images of non-small-cell lung cancer patients. The use of manual vs automatic segmentation in the performance of survival radiomic models was assessed, as well. METHODS A total of 899 NSCLC patients were included (2 proprietary: A and B, 1 public datasets: C). Automatic segmentation of lung lesions was performed by training a previously developed architecture, the nnU-Net, including 2D, 3D and cascade approaches. The quality of automatic segmentation was evaluated with DICE coefficient, considering manual contours as reference. The impact of automatic segmentation on the performance of a radiomic model for patient survival was explored by extracting radiomic hand-crafted and deep-learning features from manual and automatic contours of dataset A, and feeding different machine learning algorithms to classify survival above/below median. Models' accuracies were assessed and compared. RESULTS The best agreement between automatic and manual contours with DICE=0.78 +(0.12) was achieved by averaging predictions from 2D and 3D models, and applying a post-processing technique to extract the maximum connected component. No statistical differences were observed in the performances of survival models when using manual or automatic contours, hand-crafted, or deep features. The best classifier showed an accuracy between 0.65 and 0.78. CONCLUSION The promising role of nnU-Net for automatic segmentation of lung lesions was confirmed, dramatically reducing the time-consuming physicians' workload without impairing the accuracy of survival predictive models based on radiomics.