Related papers: Sliced Online Model Checking for Optimizing the Be…
Radiotherapy planning is a critical aspect of cancer treatment, where the optimal selection of beam directions and dose distributions significantly impacts treatment efficacy and patient outcomes. Traditionally, this process involves…
Numerous diffusion model (DM)-based methods have been proposed for solving inverse imaging problems. Among these, a recent line of work has demonstrated strong performance by formulating sampling as an optimization procedure that enforces…
The simple assembly line balancing problem (SALBP) concerns the assignment of tasks with pre-defined processing times to work stations that are arranged in a line. Hereby, precedence constraints between the tasks must be respected. The…
Context. The magnetic field in the solar atmosphere continually reconnects and accelerates charged particles to high energies. Simulations of the atmosphere in three dimensions that include the effects of accelerated particles can aid our…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Online reconstruction of dynamic scenes is significant as it enables learning scenes from live-streaming video inputs, while existing offline dynamic reconstruction methods rely on recorded video inputs. However, previous online…
As robots venture into the real world, they are subject to unmodeled dynamics and disturbances. Traditional model-based control approaches have been proven successful in relatively static and known operating environments. However, when an…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
Radiation therapy aims to deliver the prescribed amount of dose to a tumour at the same time as sparing the surrounding tissues as much as possible. In charged particle therapy, delivering the prescribed dose is equivalent to delivering the…
When treating moving tumors, the precise delivery of proton therapy by pencil beam scanning (PBS) is challenged by the interplay effect. Although several 4D-optimization methods have been proposed, what is the most beneficial motion…
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…
Carbon ion beam radiotherapy enables a very localised dose deposition. However, already small changes in the patient geometry or positioning errors can significantly distort the dose distribution. A live monitoring system of the beam…
Objective Interaction vertex imaging (IVI) is used for range monitoring in carbon ion radiotherapy, detecting depth differences between Bragg peak positions. Online range monitoring, which provides feedback during beam delivery, is…
Existing AI agents typically execute multi-step tasks autonomously and only allow user confirmation at the end. During execution, users have little control, making the confirm-at-end approach brittle: a single error can cascade and force a…
Generating realistic MRIs to accurately predict future changes in the structure of brain is an invaluable tool for clinicians in assessing clinical outcomes and analysing the disease progression at the patient level. However, current…
In this paper, we discuss reduced order modelling approaches to bifurcating systems arising from continuum mechanics benchmarks. The investigation of the beam's deflection is a relevant topic of investigation with fundamental implications…
A diffusion model, which is formulated to produce an image using thousands of denoising steps, usually suffers from a slow inference speed. Existing acceleration algorithms simplify the sampling by skipping most steps yet exhibit…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
When performing 3D manipulation tasks, robots have to execute action planning based on perceptions from multiple fixed cameras. The multi-camera setup introduces substantial redundancy and irrelevant information, which increases…
It has long been hoped that model-based control will improve tracking performance while maintaining or increasing compliance. This hope hinges on having or being able to estimate an accurate inverse dynamics model. As a result, substantial…