相关论文: Towards Data-Driven Hierarchical Surgical Skill An…

Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods…

Reinforcement learning is still struggling with solving long-horizon surgical robot tasks which involve multiple steps over an extended duration of time due to the policy exploration challenge. Recent methods try to tackle this problem by…

Imaging and hyperspectral data analysis is central to progress across biology, medicine, chemistry, and physics. The core challenge lies in converting high-resolution or high-dimensional datasets into interpretable representations that…

In recent years, the field of electroencephalography (EEG) analysis has witnessed remarkable advancements, driven by the integration of machine learning and artificial intelligence. This survey aims to encapsulate the latest developments,…

Deep reinforcement learning has achieved many impressive results in recent years. However, tasks with sparse rewards or long horizons continue to pose significant challenges. To tackle these important problems, we propose a general…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

While traditional computer vision models have historically struggled to generalize to endoscopic domains, the emergence of foundation models has shown promising cross-domain performance. In this work, we present the first large-scale study…

Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different…

The advancement of large language model (LLM) based agents has shifted AI evaluation from single-turn response assessment to multi-step task completion in interactive environments. We present an empirical study evaluating frontier AI models…

The rapid advancement of Large Language Models (LLMs) has significantly influenced various domains, leveraging their exceptional few-shot and zero-shot learning capabilities. In this work, we aim to explore and understand the LLMs-based…

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…

Self-supervised representation learning has been highly promising for histopathology image analysis with numerous approaches leveraging their patient-slide-patch hierarchy to learn better representations. In this paper, we explore how the…

This paper applies operads and functorial semantics to address the problem of failure diagnosis in complex systems. We start with a concrete example, developing a hierarchical interaction model for the Length Scale Interferometer, a…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

Understanding the intricate workflows of cataract surgery requires modeling complex interactions between surgical tools, anatomical structures, and procedural techniques. Existing datasets primarily address isolated aspects of surgical…

The use of statistical methods in sport analytics has gained a rapidly growing interest over the last decade, and nowadays is common practice. In particular, the interest in understanding and predicting an athlete's performance throughout…

Achieving mission objectives in a realistic simulation of aerial combat is highly challenging due to imperfect situational awareness and nonlinear flight dynamics. In this work, we introduce a novel 3D multi-agent air combat environment and…

We demonstrate the adaption of three established methods to the field of surrogate machine learning model development. These methods are data augmentation, custom loss functions and transfer learning. Each of these methods have seen…

We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides…

The paper presents an approach for building consistent and applicable clinical decision support systems (CDSSs) using a data-driven predictive model aimed at resolving the problem of low applicability and scalability of CDSSs in real-world…