相关论文: STITCH: Augmented Dexterity for Suture Throws Incl…

Sampling from diffusion probabilistic models (DPMs) is often expensive for high-quality image generation and typically requires many steps with a large model. In this paper, we introduce sampling Trajectory Stitching T-Stitch, a simple yet…

Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when…

In the modern context, hand gesture recognition has emerged as a focal point. This is due to its wide range of applications, which include comprehending sign language, factories, hands-free devices, and guiding robots. Many researchers have…

Stream processing applications extract value from raw data through Directed Acyclic Graphs of data analysis tasks. Shared-nothing (SN) parallelism is the de-facto standard to scale stream processing applications. Given an application, SN…

Development of fast methods to conduct in silico experiments using computational models of cellular signaling is a promising approach toward advances in personalized medicine. However, software-based cellular network simulation has…

Robotic knot-tying represents a fundamental challenge in robotics due to the complex interactions between deformable objects and strict topological constraints. We present TWISTED-RL, a framework that improves upon the previous…

Human motion generation is an important area of research in many fields. In this work, we tackle the problem of motion stitching and in-betweening. Current methods either require manual efforts, or are incapable of handling longer…

Topology optimization (TO) is employed in engineering to optimize structural performance while maximizing material efficiency. However, traditional TO methods incur significant computational and time costs. Although research has leveraged…

Stenting is among the most common transcatheter interventions for congenital heart disease (CHD). Patient-specific computational fluid dynamics (CFD) simulations can predict hemodynamic outcomes of intervention scenarios but require…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

Traditional image stitching techniques have predominantly utilized two-dimensional homography transformations and mesh warping to achieve alignment on a planar surface. While effective for scenes that are approximately coplanar or exhibit…

Articulated hand pose and shape estimation is an important problem for vision-based applications such as augmented reality and animation. In contrast to the existing methods which optimize only for joint positions, we propose a fully…

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…

The growing memory footprints of cloud and big data applications mean that data center CPUs can spend significant time waiting for memory. An attractive approach to improving performance in such centralized compute settings is to employ…

This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The…

Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, including circular staplers, face challenges such as limited…

3D scene generation has quickly become a challenging new research direction, fueled by consistent improvements of 2D generative diffusion models. Most prior work in this area generates scenes by iteratively stitching newly generated frames…

Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…

Dual-fisheye lens cameras are becoming popular for 360-degree video capture, especially for User-generated content (UGC), since they are affordable and portable. Images generated by the dual-fisheye cameras have limited overlap and hence…

Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the potential to reduce the invasiveness of many medical…