相关论文: Towards Suturing World Models: Learning Predictive…

Diffusion models are generative models with impressive text-to-image synthesis capabilities and have spurred a new wave of creative methods for classical machine learning tasks. However, the best way to harness the perceptual knowledge of…

Augmentation by generative modelling yields a promising alternative to the accumulation of surgical data, where ethical, organisational and regulatory aspects must be considered. Yet, the joint synthesis of (image, mask) pairs for…

While diffusion models can successfully generate data and make predictions, they are predominantly designed for static images. We propose an approach for efficiently training diffusion models for probabilistic spatiotemporal forecasting,…

For recent diffusion-based generative models, maintaining consistent content across a series of generated images, especially those containing subjects and complex details, presents a significant challenge. In this paper, we propose a new…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…

Robot-assisted minimally invasive surgery is improving surgeon performance and patient outcomes. This innovation is also turning what has been a subjective practice into motion sequences that can be precisely measured. A growing number of…

Discriminative classifiers have become a foundational tool in deep learning for medical imaging, excelling at learning separable features of complex data distributions. However, these models often need careful design, augmentation, and…

The recent wave of AI-generated content (AIGC) has witnessed substantial success in computer vision, with the diffusion model playing a crucial role in this achievement. Due to their impressive generative capabilities, diffusion models are…

Deep learning is widely applied in computer-aided pathological diagnosis, which alleviates the pathologist workload and provide timely clinical analysis. However, most models generally require large-scale annotated data for training, which…

Generative models such as GANs and diffusion models have demonstrated impressive image generation capabilities. Despite these successes, these systems are surprisingly poor at creating images with hands. We propose a novel training…

We present the first text-based image editing approach for object parts based on pre-trained diffusion models. Diffusion-based image editing approaches capitalized on the deep understanding of diffusion models of image semantics to perform…

Our previous work classified a taxonomy of suturing gestures during a vesicourethral anastomosis of robotic radical prostatectomy in association with tissue tears and patient outcomes. Herein, we train deep-learning based computer vision…

This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We…

Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…

Multi-modal foundation models are typically trained on millions of pairs of natural images and text captions, frequently obtained through web-crawling approaches. Although such models depict excellent generative capabilities, they do not…

Diffusion models have achieved remarkable success in image and video generation. In this work, we demonstrate that diffusion models can also \textit{generate high-performing neural network parameters}. Our approach is simple, utilizing an…

Diffusion models have achieved remarkable success in generating high quality image and video data. More recently, they have also been used for image compression with high perceptual quality. In this paper, we present a novel approach to…

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous…

Robot-Assisted Minimally Invasive Surgery is currently fully manually controlled by a trained surgeon. Automating this has great potential for alleviating issues, e.g., physical strain, highly repetitive tasks, and shortages of trained…

Video Diffusion Models (VDMs) have emerged as powerful generative tools, capable of synthesizing high-quality spatiotemporal content. Yet, their potential goes far beyond mere video generation. We argue that the training dynamics of VDMs,…