相关论文: Learning-based Force Sensing and Impedance Matchin…
The Segment Anything Model (SAM), a foundation model for general image segmentation, has demonstrated impressive zero-shot performance across numerous natural image segmentation tasks. However, SAM's performance significantly declines when…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold…
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physics of contact, and together with Coulomb friction, lead to…
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…
Surgical skill directly affects surgical procedure outcomes; thus, effective training is needed to ensure satisfactory results. Many objective assessment metrics have been developed and some are widely used in surgical training simulators.…
We consider a reconfigurable intelligent surface (RIS) assisted cell-free massive multiple-input multiple-output non-orthogonal multiple access (NOMA) system, where each access point (AP) serves all the users with the aid of the RIS. We…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
An adaptive guidance system suitable for the terminal phase trajectory of a hypersonic strike weapon is optimized using reinforcement meta learning. The guidance system maps observations directly to commanded bank angle, angle of attack,…
An intelligent reflecting surface (IRS) consists of a large number of low-cost reflecting elements, which can steer the incident signal collaboratively by passive beamforming. This way, IRS reconfigures the wireless environment to boost the…
By activating blocked users and altering successive interference cancellation (SIC) sequences, reconfigurable intelligent surfaces (RISs) become promising for enhancing non-orthogonal multiple access (NOMA) systems. The downlink RIS-aided…
Multi-modal fusion is crucial for Internet of Things (IoT) perception, widely deployed in smart homes, intelligent transport, industrial automation, and healthcare. However, existing systems often face challenges: high model complexity…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and…
Adaptive impedance matching between antennas and radio frequency front-end (RFFE) power modules is essential for mobile communication systems. To address the matching performance degradation caused by parasitic effects in practical tunable…
The design of feedback channels in frequency division duplex (FDD) systems is a major challenge because of the limited available feedback bits. We consider non-orthogonal multiple access (NOMA) systems that incorporate reconfigurable…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…
A novel probabilistic approach for the design of mechanical structures with friction interfaces is proposed. The objective function is defined as the probability that a specified performance measure of the forced vibration response is…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…