Related papers: SyncTwin: Fast Digital Twin Construction and Synch…
Photorealistic 3D full-body human reconstruction from a single image is a critical yet challenging task for applications in films and video games due to inherent ambiguities and severe self-occlusions. While recent approaches leverage SMPL…
Control Co-Design (CCD) integrates physical and control system design to improve the performance of dynamic and autonomous systems. Despite advances in uncertainty-aware CCD methods, real-world uncertainties remain highly unpredictable.…
Engineering regulatory compliance in complex Cyber-Physical Systems (CPS), such as smart warehouse logistics, is challenging due to the open and dynamic nature of these systems, scales, and unpredictable modes of human-robot interactions…
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong nonlinear coupling between materials, morphology, and…
The adoption of cyber-physical systems and jobsite intelligence that connects design models, real-time site sensing, and autonomous field operations can dramatically enhance digital management in the construction industry. This paper…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
While most robotics simulation libraries are built for low-dimensional and intrinsically serial tasks, soft-body and multi-agent robotics have created a demand for simulation environments that can model many interacting bodies in parallel.…
We introduce Reality Fusion, a novel robot teleoperation system that localizes, streams, projects, and merges a typical onboard depth sensor with a photorealistic, high resolution, high framerate, and wide field of view (FoV) rendering of…
Purpose: Digital twins are virtual interactive models of the real world, exhibiting identical behavior and properties. In surgical applications, computational analysis from digital twins can be used, for example, to enhance situational…
We introduce a novel digital twin framework for predictive maintenance of long-term physical systems. Using monitoring tire health as an application, we show how the digital twin framework can be used to enhance automotive safety and…
Image-guided robotic interventions represent a transformative frontier in surgery, blending advanced imaging and robotics for improved precision and outcomes. This paper addresses the critical need for integrating open-source platforms to…
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…
This work is interested in digital twins, and the development of a simplified framework for them, in the context of dynamical systems. Digital twin is an ingenious concept that helps on organizing different areas of expertise aiming at…
Digital twins (DTs), virtual simulated replicas of physical scenes, are transforming various industries. However, their potential in radio frequency (RF) sensing applications has been limited by the unidirectional nature of conventional RF…
Unmanned aerial vehicles (UAVs) enhance coverage and provide flexible deployment in 5G and next-generation wireless networks. The performance of such wireless networks can be improved by developing new navigation and wireless adaptation…
Digital Twins (DTs), optimize operations and monitor performance in Smart Critical Systems (SCS) domains like smart grids and manufacturing. DT-based cybersecurity solutions are in their infancy, lacking a unified strategy to overcome…
Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…
Recent DETR-based methods have advanced the development of Video Instance Segmentation (VIS) through transformers' efficiency and capability in modeling spatial and temporal information. Despite harvesting remarkable progress, existing…
In space-air-ground integrated networks (SAGIN)-enabled IoT networks, secure access has become a significant challenge due to the increasing risks of eavesdropping attacks. To address these threats to data confidentiality, this paper…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…