相关论文: BronchoCopilot: Towards Autonomous Robotic Broncho…

During the diagnostic process, clinicians leverage multimodal information, such as chief complaints, medical images, and laboratory-test results. Deep-learning models for aiding diagnosis have yet to meet this requirement. Here we report a…

Model-based reinforcement learning (MBRL) techniques have recently yielded promising results for real-world autonomous racing using high-dimensional observations. MBRL agents, such as Dreamer, solve long-horizon tasks by building a world…

Medical Ultrasound (US) imaging has seen increasing demands over the past years, becoming one of the most preferred imaging modalities in clinical practice due to its affordability, portability, and real-time capabilities. However, it faces…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

Limitations in acquiring training data restrict potential applications of deep reinforcement learning (RL) methods to the training of real-world robots. Here we train an RL agent to align a Mach-Zehnder interferometer, which is an essential…

In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability…

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…

With lung cancer being the most fatal cancer worldwide, it is important to detect the disease early. A potentially effective way of detecting early cancer lesions developing along the airway walls (epithelium) is bronchoscopy. To this end,…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

Accurate intraoperative navigation is essential for robot-assisted endoluminal intervention, but remains difficult because of limited endoscopic field of view and dynamic artifacts. Existing navigation platforms often rely on external…

Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…

Multi-rotor UAVs suffer from a restricted range and flight duration due to limited battery capacity. Autonomous landing on a 2D moving platform offers the possibility to replenish batteries and offload data, thus increasing the utility of…

This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Purpose: Autonomous systems in mechanical thrombectomy (MT) hold promise for reducing procedure times, minimizing radiation exposure, and enhancing patient safety. However, current reinforcement learning (RL) methods only reach the carotid…

In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…