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Embodied long-horizon manipulation requires robotic systems to process multimodal inputs-such as vision and natural language-and translate them into executable actions. However, existing learning-based approaches often depend on large,…
We introduce ScanBot, a novel dataset designed for instruction-conditioned, high-precision surface scanning in robotic systems. In contrast to existing robot learning datasets that focus on coarse tasks such as grasping, navigation, or…
With the dramatic upsurge in the volume of ultrasound examinations, low-quality ultrasound imaging has gradually increased due to variations in operator proficiency and imaging circumstances, imposing a severe burden on diagnosis accuracy…
Embodied agents designed to assist users with tasks must engage in natural language interactions, interpret instructions, execute actions, and communicate effectively to resolve issues. However, collecting large-scale, diverse datasets of…
Ultrasound (US) imaging is widely used for diagnosing and monitoring arterial diseases, mainly due to the advantages of being non-invasive, radiation-free, and real-time. In order to provide additional information to assist clinicians in…
Histopathology, the microscopic study of diseased tissue, is increasingly digitized, enabling improved visualization and streamlined workflows. An important task in histopathology is the segmentation of cells and glands, essential for…
Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…
With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…
Large vision-language models (LVLMs), such as the Generative Pre-trained Transformer 4-omni (GPT-4o), are emerging multi-modal foundation models which have great potential as powerful artificial-intelligence (AI) assistance tools for a…
Urban environments, characterized by their complex, multi-layered networks encompassing physical, social, economic, and environmental dimensions, face significant challenges in the face of rapid urbanization. These challenges, ranging from…
Despite significant strides in medical foundation models, the ultrasound domain lacks a comprehensive solution capable of bridging low-level Ultrasound Grounded Perception (e.g., segmentation, localization) and high-level Ultrasound…
Ultrasound (US) imaging is commonly used to assist in the diagnosis and interventions of spine diseases, while the standardized US acquisitions performed by manually operating the probe require substantial experience and training of…
Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics. Existing approaches, which are based on static methods,…
The integration of voice-based AI agents in healthcare presents a transformative opportunity to bridge economic and accessibility gaps in digital health delivery. This paper explores the role of large language model (LLM)-powered voice…
Large language models (LLMs) have demonstrated promising performance in both automatic speech recognition (ASR) and text-to-speech (TTS) systems, gradually becoming the mainstream approach. However, most current approaches address these…
Focused Ultrasound Ablation Surgery (FUAS) has emerged as a promising non-invasive therapeutic modality, valued for its safety and precision. Nevertheless, its clinical implementation entails intricate tasks such as multimodal image…
In the field of biomedical imaging, ultrasonography has become increasingly widespread, and an important auxiliary diagnostic tool with unique advantages, such as being non-ionising and often portable. This article reviews the…
Large Language Models (LLMs) are increasingly being used as autonomous agents capable of performing complicated tasks. However, they lack the ability to perform reliable long-horizon planning on their own. This paper bridges this gap by…
The auditory system plays a substantial role in shaping the overall human perceptual experience. While prevailing large language models (LLMs) and visual language models (VLMs) have shown their promise in solving a wide variety of language…
The remarkable progress of Multimodal Large Language Models (MLLMs) has attracted increasing attention to extend them to physical entities like legged robot. This typically requires MLLMs to not only grasp multimodal understanding…