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Direct modeling is a very recent CAD modeling paradigm featuring direct, intuitive push-pull interactions with the geometry of the model to much increase model editing flexibility. The major issue for push-pull direct modeling is the…

Deep learning fostered a leap ahead in automated skin lesion analysis in the last two years. Those models are expensive to train and difficult to parameterize. Objective: We investigate methodological issues for designing and evaluating…

We study decentralized smooth optimization problems over compact submanifolds. Recasting it as a composite optimization problem, we propose a decentralized Douglas-Rachford splitting algorithm, DDRS. When the proximal operator of the local…

Addressing uncertainty in Deep Learning (DL) is essential, as it enables the development of models that can make reliable predictions and informed decisions in complex, real-world environments where data may be incomplete or ambiguous. This…

Deep learning has revolutionized biomedical research by providing sophisticated methods to handle complex, high-dimensional data. Multimodal deep learning (MDL) further enhances this capability by integrating diverse data types such as…

Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in…

Despite perfectly interpolating the training data, deep neural networks (DNNs) can often generalize fairly well, in part due to the "implicit regularization" induced by the learning algorithm. Nonetheless, various forms of regularization,…

Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…

The computational benefits of iterative non-autoregressive transformers decrease as the number of decoding steps increases. As a remedy, we introduce Distill Multiple Steps (DiMS), a simple yet effective distillation technique to decrease…

This paper addresses the challenge of co-designing morphology and control in soft robots via a novel neural network evolution approach. We propose an innovative method to implicitly dual-encode soft robots, thus facilitating the…

Skin cancer is one of the most common types of malignancy, affecting a large population and causing a heavy economic burden worldwide. Over the last few years, computer-aided diagnosis has been rapidly developed and make great progress in…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

Skin lesion segmentation (SLS) in dermoscopic images is a crucial task for automated diagnosis of melanoma. In this paper, we present a robust deep learning SLS model, so-called SLSDeep, which is represented as an encoder-decoder network.…

We tackle the challenging issue of aggressive fine-tuning encountered during the process of transfer learning of pre-trained language models (PLMs) with limited labeled downstream data. This problem primarily results in a decline in…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

In programming education, Debugging and Teaching (DT) task is a common scenario where students receive assistance in correcting their erroneous code. The task involves multiple inputs, including erroneous code, error messages, reference…

Recent masked diffusion language models (MDLMs), such as LLaDA and Dream, have achieved performance comparable to autoregressive large language models. Unlike autoregressive models, which generate text sequentially, MDLMs generate text by…

Skin lesion identification is a key step toward dermatological diagnosis. When describing a skin lesion, it is very important to note its body site distribution as many skin diseases commonly affect particular parts of the body. To exploit…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…