相关论文: A Virtual-Based Haptic Endoscopic Sinus Surgery (E…
We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction. While research in Embodied AI has made significant progress in training robot agents in…
Electronic structure simulation (ESS) has been used for decades to provide quantitative scientific insights on an atomistic scale, enabling advances in chemistry, biology, and materials science, among other disciplines. Following standard…
Objective: Robot-assisted minimally invasive surgery (RMIS) has become the gold standard for a variety of surgical procedures, but the optimal method of training surgeons for RMIS is unknown. We hypothesized that real-time, rather than…
Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex contact dynamics and multisensory signals, especially…
Power system simulations that extend over a time period of minutes, hours, or even longer are called extended-term simulations. As power systems evolve into complex systems with increasing interdependencies and richer dynamic behaviors…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potential remains largely untapped for…
Simulation workflow is a top-level model for the design and control of simulation process. It connects multiple simulation components with time and interaction restrictions to form a complete simulation system. Before the construction and…
Patient safety training is essential for preparing healthcare professionals to identify, investigate, and prevent adverse events. However, conventional simulation-based approaches often require substantial faculty time, physical resources,…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
While training an end-to-end navigation network in the real world is usually of high cost, simulation provides a safe and cheap environment in this training stage. However, training neural network models in simulation brings up the problem…
The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…
This paper proposes a realistic image generation method for visualization in endoscopic simulation systems. Endoscopic diagnosis and treatment are performed in many hospitals. To reduce complications related to endoscope insertions,…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthroughs. Compared to traditional model-based control…
Bionic vision is a rapidly advancing field aimed at developing visual neuroprostheses ('bionic eyes') to restore useful vision to people who are blind. However, a major outstanding challenge is predicting what people 'see' when they use…
Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…
Neurosurgery increasingly uses Mixed Reality (MR) technologies for intraoperative assistance. The greatest challenge in this area is mentally reconstructing complex 3D anatomical structures from 2D slices with millimetric precision, which…
Surgical emergencies often trigger acute cognitive overload in novice physicians, impairing their decision-making under pressure. Although Virtual Reality-based Stress Inoculation Training (VR-SIT) shows promise, current systems fall short…
Gastrointestinal (GI) cancers account for 1.5 million deaths worldwide. Endoscopic Submucosal Dissection (ESD) is an advanced therapeutic endoscopy technique with superior clinical outcome due to the minimally invasive and en bloc removal…