相关论文: A Learning-Driven Framework with Spatial Optimizat…

With the advent of robot-assisted surgery, the role of data-driven approaches to integrate statistics and machine learning is growing rapidly with prominent interests in objective surgical skill assessment. However, most existing work…

This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in simulation. We propose the notion of a geometry-aware representation in grasping based on the assumption that knowledge of 3D geometry is at the…

A new, machine learning-based approach for automatically generating 3D digital geometries of woven composite textiles is proposed to overcome the limitations of existing analytical descriptions and segmentation methods. In this approach,…

Deep Neural Networks (DNNs) are the key to the state-of-the-art machine vision, sensor fusion and audio/video signal processing. Unfortunately, their computation complexity and tight resource constraints on the Edge make them hard to…

We present GTT-Net, a supervised learning framework for the reconstruction of sparse dynamic 3D geometry. We build on a graph-theoretic formulation of the generalized trajectory triangulation problem, where non-concurrent multi-view imaging…

During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…

Mobile grasping enhances manipulation efficiency by utilizing robots' mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can…

We introduce the problem of knot-based inverse perceptual art. Given multiple target images and their corresponding viewing configurations, the objective is to find a 3D knot-based tubular structure whose appearance resembles the target…

Intra-operative ultrasound is an increasingly important imaging modality in neurosurgery. However, manual interaction with imaging data during the procedures, for example to select landmarks or perform segmentation, is difficult and can be…

Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…

As deep neural networks are growing in size and being increasingly deployed to more resource-limited devices, there has been a recent surge of interest in network pruning methods, which aim to remove less important weights or activations of…

Neural network compression has gained increasing attention in recent years, particularly in computer vision applications, where the need for model reduction is crucial for overcoming deployment constraints. Pruning is a widely used…

In the wood industry, logs are commonly quality screened by discrete X-ray scans on a moving conveyor belt from a few source positions. Typically, the measurements are obtained in a single two-dimensional (2D) plane (a "slice") by a…

We present Neural Kernel Fields: a novel method for reconstructing implicit 3D shapes based on a learned kernel ridge regression. Our technique achieves state-of-the-art results when reconstructing 3D objects and large scenes from sparse…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

Unstructured pruning remains a powerful strategy for compressing deep neural networks, yet it often demands iterative train-prune-retrain cycles, resulting in significant computational overhead. To address this challenge, we introduce a…

Despite the immense technology advancement in the surgeries the criteria of assessing the surgical skills still remains based on subjective standards. With the advent of robotic-assisted surgery, new opportunities for objective and…

Though deep learning methods have shown great success in 3D point cloud part segmentation, they generally rely on a large volume of labeled training data, which makes the model suffer from unsatisfied generalization abilities to unseen…

3D ultrasound (US) is widely used for its rich diagnostic information. However, it is criticized for its limited field of view. 3D freehand US reconstruction is promising in addressing the problem by providing broad range and freeform scan.…

Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…