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In recent years, Spiking Neural Networks (SNNs) have achieved remarkable progress, with Spiking Transformers emerging as a promising architecture for energy-efficient sequence modeling. However, existing Spiking Transformers still lack a…
We propose a deterministic and time-efficient contact-aware path planner for neurovascular navigation. The algorithm leverages information from pre- and intra-operative images of the vessels to navigate pre-bent passive tools, by…
Most recent scribble-supervised segmentation methods commonly adopt a CNN framework with an encoder-decoder architecture. Despite its multiple benefits, this framework generally can only capture small-range feature dependency for the…
Autonomous parking plays a vital role in intelligent vehicle systems, particularly in constrained urban environments where high-precision control is required. While traditional rule-based parking systems struggle with environmental…
Recent neural heuristics for the Vehicle Routing Problem (VRP) primarily rely on node coordinates as input, which may be less effective in practical scenarios where real cost metrics-such as edge-based distances-are more relevant. To…
Vision Transformers (ViT)s have recently become popular due to their outstanding modeling capabilities, in particular for capturing long-range information, and scalability to dataset and model sizes which has led to state-of-the-art…
Panoramic distortion poses a significant challenge in 360 depth estimation, particularly pronounced at the north and south poles. Existing methods either adopt a bi-projection fusion strategy to remove distortions or model long-range…
We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…
The success of a specific neural network architecture is closely tied to the dataset and task it tackles; there is no one-size-fits-all solution. Thus, considerable efforts have been made to quickly and accurately estimate the performances…
Motion prediction plays an important role in autonomous driving. This study presents LMFormer, a lane-aware transformer network for trajectory prediction tasks. In contrast to previous studies, our work provides a simple mechanism to…
Detecting navigable space is the first and also a critical step for successful robot navigation. In this work, we treat the visual navigable space segmentation as a scene decomposition problem and propose a new network, NSS-VAEs (Navigable…
In domestic environments, robots require a comprehensive understanding of their surroundings to interact effectively and intuitively with untrained humans. In this paper, we propose DVEFormer - an efficient RGB-D Transformer-based approach…
Transformers have demonstrated remarkable performance in natural language processing and computer vision. However, existing vision Transformers struggle to learn from limited medical data and are unable to generalize on diverse medical…
Cross-spectral image guided denoising has shown its great potential in recovering clean images with rich details, such as using the near-infrared image to guide the denoising process of the visible one. To obtain such image pairs, a…
Convolutional neural network (CNN) based methods have achieved great successes in medical image segmentation, but their capability to learn global representations is still limited due to using small effective receptive fields of convolution…
Endoluminal reconstruction using flow diverters represents a novel paradigm for the minimally invasive treatment of intracranial aneurysms. The configuration assumed by these very dense braided stents once deployed within the parent vessel…
Accurate segmentation of organs and lesions in medical images is essential for clinical applications including diagnosis, prognosis, and treatment planning. While Vision Transformers (ViTs) have shown impressive segmentation performance,…
Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely…
We present Wave-Former, a novel method capable of high-accuracy 3D shape reconstruction for completely occluded, diverse, everyday objects. This capability can open new applications spanning robotics, augmented reality, and logistics. Our…
Endovascular surgical tool reconstruction represents an important factor in advancing endovascular tool navigation, which is an important step in endovascular surgery. However, the lack of publicly available datasets significantly restricts…