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

Accurate EMG-driven musculoskeletal (MSK) modeling is critical for biomechanics, rehabilitation, and assistive technology. However, most models calibrate parameters under a single load, ignoring the fact that tasks with similar kinematics…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

In this paper we study an emerging class of neural networks based on the morphological operators of dilation and erosion. We explore these networks mathematically from a tropical geometry perspective as well as mathematical morphology. Our…

We present a distributed algorithm that enables a group of robots to collaboratively optimize the parameters of a deep neural network model while communicating over a mesh network. Each robot only has access to its own data and maintains…

Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and object detection. However, resource-constrained robots, like…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

In this paper, we propose a novel layer-adaptive weight-pruning approach for Deep Neural Networks (DNNs) that addresses the challenge of optimizing the output distortion minimization while adhering to a target pruning ratio constraint. Our…

Over the last years, machine learning tools have been successfully applied to a wealth of problems in high-energy physics. A typical example is the classification of physics objects. Supervised machine learning methods allow for significant…

Defect detection is a basic and essential task in automatic parts production, especially for automotive engine precision parts. In this paper, we propose a new idea to construct a deep convolutional network combining related knowledge of…

Handling the ever-increasing scale of contemporary deep learning and transformer-based models poses a significant challenge. Overparameterized Transformer networks outperform prior art in Natural Language processing and Computer Vision.…

Metalearning of deep neural network (DNN) architectures and hyperparameters has become an increasingly important area of research. At the same time, network regularization has been recognized as a crucial dimension to effective training of…

Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipulate. The challenge increases with cable length: long cables…

Compressive imaging aims to recover a latent image from under-sampled measurements, suffering from a serious ill-posed inverse problem. Recently, deep neural networks have been applied to this problem with superior results, owing to the…

Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…

Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…

In this study, we developed a deep-learning-based automatic detection algorithm (DLAD, Carebot AI CXR) to detect and localize seven specific radiological findings (atelectasis (ATE), consolidation (CON), pleural effusion (EFF), pulmonary…

Although deep neural networks (DNNs) achieve high predictive accuracy, their confidence estimates are often unreliable, potentially compromising user trust in their decisions. This has motivated research on calibrated models, where…

Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…

This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…