相关论文: STITCH: Augmented Dexterity for Suture Throws Incl…
We propose EscherNet++, a masked fine-tuned diffusion model that can synthesize novel views of objects in a zero-shot manner with amodal completion ability. Existing approaches utilize multiple stages and complex pipelines to first…
UDDSKETCH is a recent algorithm for accurate tracking of quantiles in data streams, derived from the DDSKETCH algorithm. UDDSKETCH provides accuracy guarantees covering the full range of quantiles independently of the input distribution and…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Under conventional "open-" surgery, the physician has to take care of the patient, interact with other clinicians and check several monitoring devices. Nowadays, the Computer Assisted Surgery proposes to integrate 3D cameras in the…
In this work, we tackle the challenging task of jointly tracking hand object pose and reconstructing their shapes from depth point cloud sequences in the wild, given the initial poses at frame 0. We for the first time propose a point cloud…
Data-parallel applications, such as data analytics, machine learning, and scientific computing, are placing an ever-growing demand on floating-point operations per second on emerging systems. With increasing integration density, the quest…
Vision-based surgical navigation has received increasing attention due to its non-invasive, cost-effective, and flexible advantages. In particular, a critical element of the vision-based navigation system is tracking surgical instruments.…
3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…
Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…
In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from low accuracy and fail to account for hand-object…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
Haptic sciences and technologies benefit greatly from comprehensive datasets that capture tactile stimuli under controlled, systematic conditions. However, existing haptic datasets collect data through uncontrolled exploration, which…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…
Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…
We present TRACE, a mesh-guided 3DGS editing framework that achieves automated, high-fidelity scene transformation. By anchoring video diffusion with explicit 3D geometry, TRACE uniquely enables fine-grained, part-level manipulatio--such as…
Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone in on anatomical targets. In order to accurately steer them,…
Most robotic grasping systems rely on converting sensor data into explicit 3D point clouds, which is a computational step not found in biological intelligence. This paper explores a fundamentally different, neuro-inspired paradigm for 6-DoF…