相关论文: POE: Acoustic Soft Robotic Proprioception for Omni…

Accurate estimation of 3D human motion from monocular video requires modeling both kinematics (body motion without physical forces) and dynamics (motion with physical forces). To demonstrate this, we present SimPoE, a Simulation-based…

A recent series of works has shown that initialization-free BA can be achieved using pseudo Object Space Error (pOSE) as a surrogate objective. The initial reconstruction-step optimizes an objective where all terms are projectively…

In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…

This paper introduces the Procedural (audio) Variational autoEncoder (ProVE) framework as a general approach to learning Procedural Audio PA models of environmental sounds with an improvement to the realism of the synthesis while…

Mixture of Experts (MoE) architectures have recently started burgeoning due to their ability to scale model's capacity while maintaining the computational cost affordable. Furthermore, they can be applied to both Transformers and State…

For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…

In perioperative care, precise in-bed 3D patient pose and shape estimation (PSE) can be vital in optimizing patient positioning in preoperative planning, enabling accurate overlay of medical images for augmented reality-based surgical…

Human-robot interaction relies on a noise-robust audio processing module capable of estimating target speech from audio recordings impacted by environmental noise, as well as self-induced noise, so-called ego-noise. While external ambient…

Objective: Inclusion of individualised electrical conductivities of head tissues is crucial for the accuracy of electrical source imaging techniques based on electro/magnetoencephalography and the efficacy of transcranial electrical…

Human Pose Estimation (HPE) involves detecting and localizing keypoints on the human body from visual data. In 3D HPE, occlusions, where parts of the body are not visible in the image, pose a significant challenge for accurate pose…

Monocular 3D human pose estimation (HPE) methods estimate the 3D positions of joints from individual images. Existing 3D HPE approaches often use the cropped image alone as input for their models. However, the relative depths of joints…

POD-DL-ROMs have been recently proposed as an extremely versatile strategy to build accurate and reliable reduced order models (ROMs) for nonlinear parametrized partial differential equations, combining (i) a preliminary dimensionality…

The goal of 2D human pose estimation (HPE) is to localize anatomical landmarks, given an image of a person in a pose. SOTA techniques make use of thousands of labeled figures (finetuning transformers or training deep CNNs), acquired using…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

Accurate proprioceptive odometry is fundamental for legged robot navigation in GPS-denied and visually degraded environments where conventional visual odometry systems fail. Current approaches face critical limitations: analytical filtering…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

The Projection on Proper elements (PoPe) is a novel method of code control dedicated to 1) checking the correct implementation of models, 2) determining the convergence of numerical methods and 3) characterizing the residual errors of any…

Perceiving and reconstructing objects from images are critical for real-to-sim transfer tasks, which are widely used in the robotics community. Existing methods rely on multiple submodules such as detection, segmentation, shape…

Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where textureless surfaces, specular reflections, and…