Related papers: Robust Surgical Tool Tracking with Pixel-based Pro…
External factors, including urban canyons and adversarial interference, can lead to Global Positioning System (GPS) inaccuracies that vary as a function of the position in the environment. This study addresses the challenge of estimating a…
As end-to-end robotic policies are progressively deployed in the real world to solve real tasks, they face a gap between the training and inference conditions. Scaling the amount and diversity of the training data has shown some success in…
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
Surgeons' technical skill directly impacts patient outcomes. To date, the angular motion of the instruments has been largely overlooked in objective skill evaluation. To fill this gap, we have developed metrics for surgical skill evaluation…
Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Transformation and detection of photons in higher-order spatial modes usually requires complicated holographic techniques. Detectors based on spatial holograms suffer from non-idealities and should be carefully calibrated. We report a novel…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
Autonomous robotics is critically affected by the robustness of its scene understanding algorithms. We propose a two-axis pipeline based on polarization indices to analyze dynamic urban scenes. As robots evolve in unknown environments, they…
Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots,…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
Ensuring the safety of surgical instruments requires reliable detection of visual defects. However, manual inspection is prone to error, and existing automated defect detection methods, typically trained on natural/industrial images, fail…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Metamorphosis is a method for diffeomorphic matching of shapes, with many potential applications for anatomical shape comparison in medical imagery, a problem which is central to the field of computational anatomy. An important tool for the…
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a…