相关论文: IRIS: Learning-Driven Task-Specific Cinema Robot A…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
Reconfigurable intelligent surfaces (RISs) have attracted increasing interest due to their ability to improve the coverage, reliability, and energy efficiency of millimeter wave (mmWave) communication systems. However, designing the RIS…
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…
Neuromorphic image sensors draw inspiration from the biological retina to implement visual computations in electronic hardware. Gain control in phototransduction and temporal differentiation at the first retinal synapse inspired the first…
Learning from offline task demonstrations is a problem of great interest in robotics. For simple short-horizon manipulation tasks with modest variation in task instances, offline learning from a small set of demonstrations can produce…
Integrating cameras into wireless smart rings has been challenging due to size and power constraints. We introduce IRIS, the first wireless vision-enabled smart ring system for smart home interactions. Equipped with a camera, Bluetooth…
Surgical image segmentation is essential for robot-assisted surgery and intraoperative guidance. However, existing methods are constrained to predefined categories, produce one-shot predictions without adaptive refinement, and lack…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Inverse rendering seeks to recover 3D geometry, surface material, and lighting from captured images, enabling advanced applications such as novel-view synthesis, relighting, and virtual object insertion. However, most existing techniques…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
Assistive technologies for the visually impaired have evolved to facilitate interaction with a complex and dynamic world. In this paper, we introduce AIris, an AI-powered wearable device that provides environmental awareness and interaction…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous…
Unsupervised physical parameter estimation from video lacks a common benchmark: existing methods evaluate on non-overlapping synthetic data, the sole real-world dataset is restricted to single-body systems, and no established protocol…
In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…
Video object segmentation is an essential task in robot manipulation to facilitate grasping and learning affordances. Incremental learning is important for robotics in unstructured environments, since the total number of objects and their…
In this paper, we propose a novel computer vision-based approach to aid Reconfigurable Intelligent Surface (RIS) for dynamic beam tracking and then implement the corresponding prototype verification system. A camera is attached at the RIS…
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…