相关论文: Autonomous Soft Robotic Guidewire Navigation via I…
Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…
As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…
Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…
To navigate medical instruments safely and accurately inside a patient's vascular tree, combining X-ray fluoroscopy with intermittent contrast injections is the gold standard. However, prolonged exposure to ionizing radiation poses health…
Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…
Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…
In this paper we introduce the first reinforcement learning (RL) based robotic navigation method which utilizes ultrasound (US) images as an input. Our approach combines state-of-the-art RL techniques, specifically deep Q-networks (DQN)…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Soft tissue tracking is crucial for computer-assisted interventions. Existing approaches mainly rely on extracting discriminative features from the template and videos to recover corresponding matches. However, it is difficult to adopt…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is…
The exact shape of intracranial aneurysms is critical in medical diagnosis and surgical planning. While voxel-based deep learning frameworks have been proposed for this segmentation task, their performance remains limited. In this study, we…
We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requiring camera calibration, poses, or robot-specific training.…
Automated tracking of surgical tool keypoints in robotic surgery videos is an essential task for various downstream use cases such as skill assessment, expertise assessment, and the delineation of safety zones. In recent years, the…
This paper considers the problem of enabling robots to navigate dynamic environments while following instructions. The challenge lies in the combinatorial nature of instruction specifications: each instruction can include multiple…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…