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Looking at a person's hands one often can tell what the person is going to do next, how his/her hands are moving and where they will be, because an actor's intentions shape his/her movement kinematics during action execution. Similarly,…
Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…
Previous work has shown that it is possible to train neuronal cultures on Multi-Electrode Arrays (MEAs), to recognize very simple patterns. However, this work was mainly focused to demonstrate that it is possible to induce plasticity in…
Uncertainty in perception, actuation, and the environment often require multiple attempts for a robotic task to be successful. We study a class of problems providing (1) low-entropy indicators of terminal success / failure, and (2)…
Procedure learning involves identifying the key-steps and determining their logical order to perform a task. Existing approaches commonly use third-person videos for learning the procedure, making the manipulated object small in appearance…
In the realm of automated robotic surgery and computer-assisted interventions, understanding robotic surgical activities stands paramount. Existing algorithms dedicated to surgical activity recognition predominantly cater to pre-defined…
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of an endoscopic camera make tool tracking challenging.…
Despite the recent progress in video understanding and the continuous rate of improvement in temporal action localization throughout the years, it is still unclear how far (or close?) we are to solving the problem. To this end, we introduce…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
This paper presents the design and results of the "PEg TRAnsfert Workflow recognition" (PETRAW) challenge whose objective was to develop surgical workflow recognition methods based on one or several modalities, among video, kinematic, and…
Deep neural networks are prone to learning spurious correlations, exploiting dataset-specific artifacts rather than meaningful features for prediction. In surgical operating rooms (OR), these manifest through the standardization of smocks…
Surgical procedures are often not "standardised" (i.e., defined in a unique and unambiguous way), but rather exist as implicit knowledge in the minds of the surgeon and the surgical team. This reliance extends to pre-surgery planning and…
Human computer interaction facilitates intelligent communication between humans and computers, in which gesture recognition plays a prominent role. This paper proposes a machine learning system to identify dynamic gestures using tri-axial…
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…
Research on decision support applications in healthcare, such as those related to diagnosis, prediction, treatment planning, etc., have seen enormously increased interest recently. This development is thanks to the increase in data…
In surgery, the application of appropriate force levels is critical for the success and safety of a given procedure. While many studies are focused on measuring in situ forces, little attention has been devoted to relating these observed…
Analyzing human motion is an active research area, with various applications. In this work, we focus on human motion analysis in the context of physical rehabilitation using a robot coach system. Computer-aided assessment of physical…
Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…
Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition,…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…