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Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volumetric meshes for the deformed elastomer can provide direct…

Modern Convolutional Neural Networks (CNN) are extremely powerful on a range of computer vision tasks. However, their performance may degrade when the data is characterised by large intra-class variability caused by spatial transformations.…

To date, the simulation of organ deformations for applications like therapy planning or image-guided interventions is calculated by solving the elastodynamics equations. While efficient solvers have been proposed for fast simulations,…

This article presents a novel multi-agent spatial transformer (MAST) for learning communication policies in large-scale decentralized and collaborative multi-robot systems (DC-MRS). Challenges in collaboration in DC-MRS arise from: (i)…

Automated surgical gesture recognition is of great importance in robot-assisted minimally invasive surgery. However, existing methods assume that training and testing data are from the same domain, which suffers from severe performance…

Given a source portrait, the automatic human body reshaping task aims at editing it to an aesthetic body shape. As the technology has been widely used in media, several methods have been proposed mainly focusing on generating optical flow…

Optical sensing technologies are emerging technologies used in cancer surgeries to ensure the complete removal of cancerous tissue. While point-wise assessment has many potential applications, incorporating automated large area scanning…

Triggered by the success of transformers in various visual tasks, the spatial self-attention mechanism has recently attracted more and more attention in the computer vision community. However, we empirically found that a typical vision…

Parametric models of humans, faces, hands and animals have been widely used for a range of tasks such as image-based reconstruction, shape correspondence estimation, and animation. Their key strength is the ability to factor surface…

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…

Modeling and recognition of surgical activities poses an interesting research problem. Although a number of recent works studied automatic recognition of surgical activities, generalizability of these works across different tasks and…

Skeleton-based human action recognition has achieved a great interest in recent years, as skeleton data has been demonstrated to be robust to illumination changes, body scales, dynamic camera views, and complex background. Nevertheless, an…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

This paper studies introducing viewpoint invariant feature representations in existing action recognition architecture. Despite significant progress in action recognition, efficiently handling geometric variations in large-scale datasets…

Skeleton-based action recognition aims to recognize human actions given human joint coordinates with skeletal interconnections. By defining a graph with joints as vertices and their natural connections as edges, previous works successfully…

Mesh-based simulations are central to modeling complex physical systems in many disciplines across science and engineering. Mesh representations support powerful numerical integration methods and their resolution can be adapted to strike…

While Multi-view Graph Neural Networks (MVGNNs) excel at leveraging diverse modalities for learning object representation, existing methods assume identical local topology structures across modalities that overlook real-world discrepancies.…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific…

Skeleton-based Temporal Action Segmentation (STAS) aims to segment and recognize various actions from long, untrimmed sequences of human skeletal movements. Current STAS methods typically employ spatio-temporal modeling to establish…