相关论文: DULA: A Differentiable Ergonomics Model for Postur…
Visual Language Action (VLA) models are a multi-modal class of Artificial Intelligence (AI) systems that integrate visual perception, natural language understanding, and action planning to enable agents to interpret their environment,…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…
The type of decision dependent uncertainties (DDUs) imposes a great challenge in decision making, while existing methodologies are not sufficient to support many real practices. In this paper, we present a systematic study to handle this…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
Data augmentation (DA) techniques aim to increase data variability, and thus train deep networks with better generalisation. The pioneering AutoAugment automated the search for optimal DA policies with reinforcement learning. However,…
Fine-tuning large-scale pre-trained models is inherently a resource-intensive task. While it can enhance the capabilities of the model, it also incurs substantial computational costs, posing challenges to the practical application of…
Diagnostic errors remain a major cause of preventable mortality, particularly in resource limited settings. Medical training simulators, including robopatients, help reduce such errors by replicating patient responses during procedures such…
We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…
Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, and electromechanical industries. Therefore, modeling of DLOs as well as a computationally…
We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…
Ordinary differential equations (ODEs) provide a powerful framework for modeling dynamic systems arising in a wide range of scientific domains. However, most existing ODE methods focus on a single system, and do not adequately address the…
Real-world data distributions are often highly skewed. This has spurred a growing body of research on long-tailed recognition, aimed at addressing the imbalance in training classification models. Among the methods studied, multiplicative…
Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at…
Automating disassembly of critical components from end-of-life (EoL) desktops, such as high-value items like RAM modules and CPUs, as well as sensitive parts like hard disk drives, remains challenging due to the inherent variability and…
We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dexterity and generalize poorly to novel scenarios and tasks,…
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing…
Ergonomic efficiency is essential to the mass and prolonged adoption of VR/AR experiences. While VR/AR head-mounted displays unlock users' natural wide-range head movements during viewing, their neck muscle comfort is inevitably compromised…
Recent advances in data analytics and computer-aided diagnostics stimulate the vision of patient-centric precision healthcare, where treatment plans are customized based on the health records and needs of every patient. In physical…
Synthesizing whole-body manipulation of articulated objects, including body motion, hand motion, and object motion, is a critical yet challenging task with broad applications in virtual humans and robotics. The core challenges are twofold.…