相关论文: Ablation Study on Features in Learning-based Joint…

Deep neural networks (DNNs) are state-of-the-art solutions for many machine learning applications, and have been widely used on mobile devices. Running DNNs on resource-constrained mobile devices often requires the help from edge servers…

Accurate dynamic models are crucial for many robotic applications. Traditional approaches to deriving these models are based on the application of Lagrangian or Newtonian mechanics. Although these methods provide a good insight into the…

Deep neural networks (DNN) are prone to miscalibrated predictions, often exhibiting a mismatch between the predicted output and the associated confidence scores. Contemporary model calibration techniques mitigate the problem of…

Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions, such as those in the liver, exhibit rhythmic components…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

High precision assembly of mechanical parts requires accuracy exceeding the robot precision. Conventional part mating methods used in the current manufacturing requires tedious tuning of numerous parameters before deployment. We show how…

This project focuses on the self-supervised training of convolutional neural networks (CNNs) and transformer networks for the task of image recognition. A simple siamese network with different backbones is used in order to maximize the…

Early prediction of cerebral palsy is essential as it leads to early treatment and monitoring. Deep learning has shown promising results in biomedical engineering thanks to its capacity of modelling complicated data with its non-linear…

Deep neural networks (DNNs) have enabled astounding progress in several vision-based problems. Despite showing high predictive accuracy, recently, several works have revealed that they tend to provide overconfident predictions and thus are…

The nudging data assimilation algorithm is a powerful tool used to forecast phenomena of interest given incomplete and noisy observations. Machine learning is becoming increasingly popular in data assimilation given its ease of computation…

We consider learning deep neural networks (DNNs) that consist of low-precision weights and activations for efficient inference of fixed-point operations. In training low-precision networks, gradient descent in the backward pass is performed…

We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a…

Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration…

Hand-eye calibration algorithms are mature and provide accurate transformation estimations for an effective camera-robot link but rely on a sufficiently wide range of calibration data to avoid errors and degenerate configurations. To solve…

Untangling ropes, wires, and cables is a challenging task for robots due to the high-dimensional configuration space, visual homogeneity, self-occlusions, and complex dynamics. We consider dense (tight) knots that lack space between…

Object detection plays a crucial role in smart video analysis, with applications ranging from autonomous driving and security to smart cities. However, achieving real-time object detection on edge devices presents significant challenges due…

Network pruning is a widely used technique to reduce computation cost and model size for deep neural networks. However, the typical three-stage pipeline significantly increases the overall training time. In this paper, we develop a…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Accurate and real-time surgical instrument segmentation is important in the endoscopic vision of robot-assisted surgery, and significant challenges are posed by frequent instrument-tissue contacts and continuous change of observation…

The manipulator workspace mapping is an important problem in robotics and has attracted significant attention in the community. However, most of the pre-existing algorithms have expensive time complexity due to the reliance on sophisticated…