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

In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation.…

As one of the fundamental techniques for image editing, image cropping discards unrelevant contents and remains the pleasing portions of the image to enhance the overall composition and achieve better visual/aesthetic perception. In this…

Convolutional neural networks are prevailing in deep learning tasks. However, they suffer from massive cost issues when working on mobile devices. Network pruning is an effective method of model compression to handle such problems. This…

Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…

Autonomous part assembly is a challenging yet crucial task in 3D computer vision and robotics. Analogous to buying an IKEA furniture, given a set of 3D parts that can assemble a single shape, an intelligent agent needs to perceive the 3D…

Training a generalizable 3D part segmentation network is quite challenging but of great importance in real-world applications. To tackle this problem, some works design task-specific solutions by translating human understanding of the task…

Training deep neural networks on large and sparse datasets is still challenging and can require large amounts of computation and memory. In this work, we address the task of performing semantic segmentation on large volumetric data sets,…

We present a novel network pruning algorithm called Dynamic Sparse Training that can jointly find the optimal network parameters and sparse network structure in a unified optimization process with trainable pruning thresholds. These…

The published literature on topology optimization has exploded over the last two decades to include methods that use shape and topological derivatives or evolutionary algorithms formulated on various geometric representations and…

We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…

Image reconstruction from undersampled k-space data plays an important role in accelerating the acquisition of MR data, and a lot of deep learning-based methods have been exploited recently. Despite the achieved inspiring results, the…

Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…

Purpose: Drop-in gamma probes are widely used in robotic-assisted minimally invasive surgery (RAMIS) for lymph node detection. However, these devices only provide audio feedback on signal intensity, lacking the visual feedback necessary for…

Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…

Accurate segmentation of topological tubular structures, such as blood vessels and roads, is crucial in various fields, ensuring accuracy and efficiency in downstream tasks. However, many factors complicate the task, including thin local…

This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We…

This paper presents a method to reconstruct high-quality textured 3D models from both multi-view and single-view images. The reconstruction is posed as an adaptation problem and is done progressively where in the first stage, we focus on…

Purpose: Neural networks have received recent interest for reconstruction of undersampled MR acquisitions. Ideally network performance should be optimized by drawing the training and testing data from the same domain. In practice, however,…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…