Related papers: Zero Shot Deformation Reconstruction for Soft Robo…
Zero-Shot image Anomaly Detection (ZSAD) aims to detect and localise anomalies without access to any normal training samples of the target data. While recent ZSAD approaches leverage additional modalities such as language to generate…
We present Shape Non-rigid Kinematics (SNK), a novel zero-shot method for non-rigid shape matching that eliminates the need for extensive training or ground truth data. SNK operates on a single pair of shapes, and employs a…
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups. Deformable foods necessitate different skewering…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention.…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Tissue deformation poses a key challenge for accurate surgical scene reconstruction. Despite yielding high reconstruction quality, existing methods suffer from slow rendering speeds and long training times, limiting their intraoperative…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
Deep learning methods for pansharpening have advanced rapidly, yet models pretrained on data from a specific sensor often generalize poorly to data from other sensors. Existing methods to tackle such cross-sensor degradation include…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Object 6D pose estimation is a critical challenge in robotics, particularly for manipulation tasks. While prior research combining visual and tactile (visuotactile) information has shown promise, these approaches often struggle with…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
While zero-shot diffusion-based compression methods have seen significant progress in recent years, they remain notoriously slow and computationally demanding. This paper presents an efficient zero-shot diffusion-based compression method…
Lensless optical imaging eliminates the need for refractive optics, enabling compact and low-cost cameras with a large field-of-view, supporting point-of-care diagnostics and industrial monitoring. Practical deployments, however, remain…