相关论文: Reducing Robotic Upper-Limb Assessment Time While …
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
Point and interval estimation of future disability inception and recovery rates are predominantly carried out by combining generalized linear models (GLM) with time series forecasting techniques into a two-step method involving parameter…
Time-unconditional generative models learn time-independent denoising vector fields. But without time conditioning, the same noisy input may correspond to multiple noise levels and different denoising directions, which interferes with the…
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive…
Intravoxel incoherent motion (IVIM) is a diffusion-weighted magnetic resonance imaging (MRI) method that may be applied to the placenta to help diagnose abnormal pregnancies. IVIM requires prolonged scan times, followed by a model-based…
This Data Descriptor presents a fully open, multi-modal dataset for estimating vertical ground reaction force (vGRF) from consumer-grade Apple Watch sensors with laboratory force plate ground truth. Ten healthy adults aged 26--41 years…
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…
Electronic Health Records (EHRs) enable deep learning for clinical predictions, but the optimal method for representing patient data remains unclear due to inconsistent evaluation practices. We present the first systematic benchmark to…
This study investigates a data-driven machine learning approach to predict membrane fouling in critically ill patients undergoing Continuous Renal Replacement Therapy (CRRT). Using time-series data from an ICU, 16 clinically selected…
The emergence of visual foundation models has revolutionized visual odometry~(VO) and SLAM, enabling pose estimation and dense reconstruction within a single feed-forward network. However, unlike traditional pipelines that leverage keyframe…
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However,…
Stress recognition through physiological signals such as Electrocardiogram (ECG) signals has garnered significant attention. Traditionally, research in this field predominantly focused on utilizing handcrafted features or raw signals as…
Graph-based techniques emerged as a choice to deal with the dimensionality issues in modeling multivariate time series. However, there is yet no complete understanding of how the underlying structure could be exploited to ease this task.…
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow passages or crossing large gaps. Our approach adds new…
Algorithm unrolling methods have proven powerful for solving the regularized least squares problem in computational magnetic resonance imaging (MRI). These approaches unfold an iterative algorithm with a fixed number of iterations,…
We propose a smooth regularization technique that instills a strong temporal inductive bias in video recognition models, particularly benefiting lightweight architectures. Our method encourages smoothness in the intermediate-layer…
Despite the rise of billion-parameter foundation models trained across thousands of GPUs, similar scaling gains have not been shown for humanoid control. Current neural controllers for humanoids remain modest in size, target a limited set…
In this paper, we propose a data-driven visual rhythm prediction method, which overcomes the previous works' deficiency that predictions are made primarily by human-crafted hard rules. In our approach, we first extract features including…
Adjusting to amputation can often time be difficult for the body. Post-surgery, amputees have to wait for up to several months before receiving a properly fitted prosthesis. In recent years, there has been a trend toward quantitative…
Foundation medical segmentation models, with MedSAM being the most popular, have achieved promising performance across organs and lesions. However, MedSAM still suffers from compromised performance on specific lesions with intricate…