相关论文: BronchoCopilot: Towards Autonomous Robotic Broncho…

Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…

Bronchoscopy with transbronchial biopsy is a minimally invasive and effective method for early lung cancer intervention. Robot-assisted bronchoscopy offers improved precision, spatial flexibility, and reduced risk of cross-infection. This…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

This study proposes a novel approach combining Multimodal Deep Learning with intrinsic eXplainable Artificial Intelligence techniques to predict pathological response in non-small cell lung cancer patients undergoing neoadjuvant therapy.…

In this letter, we introduce a deep reinforcement learning (RL) based multi-robot formation controller for the task of autonomous aerial human motion capture (MoCap). We focus on vision-based MoCap, where the objective is to estimate the…

This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator…

We propose to address quadrupedal locomotion tasks using Reinforcement Learning (RL) with a Transformer-based model that learns to combine proprioceptive information and high-dimensional depth sensor inputs. While learning-based locomotion…

Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…

Mechanical ventilation is a critical life support intervention that delivers controlled air and oxygen to a patient's lungs, assisting or replacing spontaneous breathing. While several data-driven approaches have been proposed to optimize…

Ultrasound (US) has been widely used in daily clinical practice for screening internal organs and guiding interventions. However, due to the acoustic shadow cast by the subcutaneous rib cage, the US examination for thoracic application is…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Computer-aided diagnosis systems hold great promise to aid radiologists and clinicians in radiological clinical practice and enhance diagnostic accuracy and efficiency. However, the conventional systems primarily focus on delivering…

Robot-assisted surgical systems have demonstrated significant potential in enhancing surgical precision and minimizing human errors. However, existing systems cannot accommodate individual surgeons' unique preferences and requirements.…

We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keypoints from camera images as the state representation,…

In recent years, reinforcement learning (RL) based quadrupedal locomotion control has emerged as an extensively researched field, driven by the potential advantages of autonomous learning and adaptation compared to traditional control…

Lung cancer is the leading cause of cancer-related death worldwide, and early diagnosis is critical to improving patient outcomes. To diagnose cancer, a highly trained pulmonologist must navigate a flexible bronchoscope deep into the…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…