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The lack of large and diverse training data on Computer-Aided Diagnosis (CAD) in breast cancer detection has been one of the concerns that impedes the adoption of the system. Recently, pre-training with large-scale image text datasets via…

Vision-Language-Action (VLA) models excel at robotic tasks by leveraging large-scale 2D vision-language pretraining, but their reliance on RGB images limits spatial reasoning critical for real-world interaction. Retraining these models with…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…

Vision-Language-Action (VLA) models are receiving increasing attention for their ability to enable robots to perform complex tasks by integrating visual context with linguistic commands. However, achieving efficient real-time performance…

Vision-Language-Action (VLA) policies are commonly trained from dense robot demonstration trajectories, often collected through teleoperation, by sampling every recorded frame as if it provided equally useful supervision. We argue that this…

Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…

Although Multimodal Large Language Models (MLLMs) excel at various image-related tasks, they encounter challenges in precisely aligning coordinates with spatial information within images, particularly in position-aware tasks such as visual…

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…

Heavy-duty trucks pose significant safety challenges due to their large size and limited maneuverability compared to passenger vehicles. A deeper understanding of truck characteristics is essential for enhancing the safety perspective of…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Vision-Language Models (VLMs) have shown remarkable performance, yet their security remains insufficiently understood. Existing adversarial studies focus almost exclusively on the digital setting, leaving physical-world threats largely…

Vision-and-Language Pre-training (VLP) has improved performance on various joint vision-and-language downstream tasks. Current approaches to VLP heavily rely on image feature extraction processes, most of which involve region supervision…

Pre-trained vision-language-action (VLA) models offer a promising foundation for generalist robot policies, but often produce brittle behaviors or unsafe failures when deployed zero-shot in out-of-distribution scenarios. We present…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Recent advancements in surgical computer vision applications have been driven by vision-only models, which do not explicitly integrate the rich semantics of language into their design. These methods rely on manually annotated surgical…