Related papers: Long-Short Term Agents for Pure-Vision Bronchoscop…
Real-time 6 DOF localization of bronchoscopes is crucial for enhancing intervention quality. However, current vision-based technologies struggle to balance between generalization to unseen data and computational speed. In this study, we…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…
Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
Object goal navigation is a fundamental task in embodied AI, where an agent is instructed to locate a target object in an unexplored environment. Traditional learning-based methods rely heavily on large-scale annotated data or require…
Localizing oneself during endoscopic procedures can be problematic due to the lack of distinguishable textures and landmarks, as well as difficulties due to the endoscopic device such as a limited field of view and challenging lighting…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
Autonomous magnetic catheter systems are emerging as a promising approach for the future of minimally invasive interventions. This study presents a novel approach that begins by modeling the nonlinear and hysteretic dynamics of a…
Deep Learning has revolutionized our ability to solve complex problems such as Vision-and-Language Navigation (VLN). This task requires the agent to navigate to a goal purely based on visual sensory inputs given natural language…
Autonomous robots for endovascular interventions hold significant potential to enhance procedural safety and reliability by navigating guidewires with precision, minimizing human error, and reducing surgical time. However, existing methods…
What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…
Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene understanding. While recent vision-language model (VLM)…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Lung cancer is the leading cause of cancer-related death worldwide, and early diagnosis is critical to improving patient outcomes. To diagnose cancer, a highly trained pulmonologist must navigate a flexible bronchoscope deep into the…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…