相关论文: Future Frame Prediction for Robot-assisted Surgery

Being able to predict what may happen in the future requires an in-depth understanding of the physical and causal rules that govern the world. A model that is able to do so has a number of appealing applications, from robotic planning to…

Current approaches in video forecasting attempt to generate videos directly in pixel space using Generative Adversarial Networks (GANs) or Variational Autoencoders (VAEs). However, since these approaches try to model all the structure and…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

Surgical robots offer the exciting potential for remote telesurgery, but advances are needed to make this technology efficient and accurate to ensure patient safety. Achieving these goals is hindered by the deleterious effects of latency…

Video anomaly detection (VAD) is an important but challenging task in computer vision. The main challenge rises due to the rarity of training samples to model all anomaly cases. Hence, semi-supervised anomaly detection methods have gotten…

In a given scene, humans can often easily predict a set of immediate future events that might happen. However, generalized pixel-level anticipation in computer vision systems is difficult because machine learning struggles with the…

In recent years, the task of video prediction-forecasting future video given past video frames-has attracted attention in the research community. In this paper we propose a novel approach to this problem with Vector Quantized Variational…

Surgical workflow anticipation can give predictions on what steps to conduct or what instruments to use next, which is an essential part of the computer-assisted intervention system for surgery, e.g. workflow reasoning in robotic surgery.…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

This paper proposes a method for performing continual learning of predictive models that facilitate the inference of future frames in video sequences. For a first given experience, an initial Variational Autoencoder, together with a set of…

It is crucial to choose actions from an appropriate distribution while learning a sequential decision-making process in which a set of actions is expected given the states and previous reward. Yet, if there are more than two latent…

Recent advances in deep learning have significantly improved performance of video prediction. However, state-of-the-art methods still suffer from blurriness and distortions in their future predictions, especially when there are large…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

We introduce the task of action-driven stochastic human motion prediction, which aims to predict multiple plausible future motions given a sequence of action labels and a short motion history. This differs from existing works, which predict…

While recurrent neural networks (RNNs) demonstrate outstanding capabilities for future video frame prediction, they model dynamics in a discrete time space, i.e., they predict the frames sequentially with a fixed temporal step. RNNs are…

Surgical gesture recognition is important for surgical data science and computer-aided intervention. Even with robotic kinematic information, automatically segmenting surgical steps presents numerous challenges because surgical…

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…

While great strides have been made in using deep learning algorithms to solve supervised learning tasks, the problem of unsupervised learning - leveraging unlabeled examples to learn about the structure of a domain - remains a difficult…

Future frame prediction in videos is a challenging problem because videos include complicated movements and large appearance changes. Learning-based future frame prediction approaches have been proposed in kinds of literature. A common…