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We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…
Creating annotations for 3D medical data is time-consuming and often requires highly specialized expertise. Various tools have been implemented to aid this process. Segment Anything Model 2 (SAM 2) offers a general-purpose prompt-based…
Because robots can directly perceive and affect the physical world, security issues take on particular importance. In this paper, we describe the results of our work on scanning the entire IPv4 address space of the Internet for instances of…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
A key tool in the package of software available for the analysis of data from the SPI spectrometer of Integral is the SPIROS system developed at the University of Birmingham. Although intended primarily for the analysis of point sources and…
Rotation search and point cloud registration are two fundamental problems in robotics and computer vision, which aim to estimate the rotation and the transformation between the 3D vector sets and point clouds, respectively. Due to the…
In recent years, non-invasive neuro-modulation methods such as Focused Ultrasound (FUS) have gained popularity. The aim of this work is to introduce the use of existing open-source technology for surgical navigation to the field of…
Rehabilitation aims to help patients with limited mobility regain their physical abilities through targeted movements, exercises, stimulation, and other therapeutic methods. Recent advances in technology have introduced sensor-based systems…
Deep learning (DL) methods have shown remarkable successes in medical image segmentation, often using large amounts of annotated data for model training. However, acquiring a large number of diverse labeled 3D medical image datasets is…
Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner.…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Self-supervised representation learning methods often fail to learn subtle or complex features, which can be dominated by simpler patterns which are much easier to learn. This limitation is particularly problematic in applications to…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
Poor adaptation of orbital implants remains a major contributor to postoperative complications and revision surgery. Although preformed orbital plates are widely used to reduce cost and operative time compared with customized implants,…
In this paper, we propose hardware and software enhancements for the Pepper robot to improve its human-robot interaction capabilities. This includes the integration of an NVIDIA Jetson GPU to enhance computational capabilities and execute…
Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural…