Object grasping is a crucial technology enabling robots to perceive and interact with the environment sufficiently. However, in practical applications, researchers are faced with missing or noisy ground truth while training the convolutional neural network, which decreases the accuracy of the model. Therefore, different loss functions are proposed to deal with these problems to improve the accuracy of the neural network. For missing ground truth, a new predicted category probability method is defined for unlabeled samples, which works effectively in conjunction with the pseudo-labeling method. Furthermore, for noisy ground truth, a symmetric loss function is introduced to resist the corruption of label noises. The proposed loss functions are powerful, robust, and easy to use. Experimental results based on the typical grasping neural network show that our method can improve performance by 2 to 13 percent.

Deep neural networks has been highly successful in data-intense computer vision applications, while such success relies heavily on the massive and clean data. In real-world scenarios, clean data sometimes is difficult to obtain. For example, in image classification and segmentation tasks, precise annotations of millions samples are generally very expensive and time-consuming. In 3D static scene reconstruction task, most NeRF related methods require the foundational assumption of the static scene (e.g. consistent lighting condition and persistent object positions), which is often violated in real-world scenarios. To address these problem, learning with noisy ground truth (LNGT) has emerged as an effective learning method and shows great potential. In this short survey, we propose a formal definition unify the analysis of LNGT LNGT in the context of different machine learning tasks (classification and regression). Based on this definition, we propose a novel taxonomy to classify the existing work according to the error decomposition with the fundamental definition of machine learning. Further, we provide in-depth analysis on memorization effect and insightful discussion about potential future research opportunities from 2D classification to 3D reconstruction, in the hope of providing guidance to follow-up research.

Video bronchoscopy is routinely conducted for biopsies of lung tissue suspected for cancer, monitoring of COPD patients and clarification of acute respiratory problems at intensive care units. The navigation within complex bronchial trees is particularly challenging and physically demanding, requiring long-term experiences of physicians. This paper addresses the automatic segmentation of bronchial orifices in bronchoscopy videos. Deep learning-based approaches to this task are currently hampered due to the lack of readily-available ground truth segmentation data. Thus, we present a data-driven pipeline consisting of a k-means followed by a compact marker-based watershed algorithm which enables to generate airway instance segmentation maps from given depth images. In this way, these traditional algorithms serve as weak supervision for training a shallow CNN directly on RGB images solely based on a phantom dataset. We evaluate generalization capabilities of this model on two in-vivo datasets covering 250 frames on 21 different bronchoscopies. We demonstrate that its performance is comparable to those models being directly trained on in-vivo data, reaching an average error of 11 vs 5 pixels for the detected centers of the airway segmentation by an image resolution of 128x128. Our quantitative and qualitative results indicate that in the context of video bronchoscopy, phantom data and weak supervision using non-learning-based approaches enable to gain a semantic understanding of airway structures.