相关论文: Learning Surgical Robotic Manipulation with 3D Spa…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We introduce Seeing the Bigger Picture (SBP), an end-to-end…
Complete reconstruction of surgical scenes is crucial for robot-assisted surgery (RAS). Deep depth estimation is promising but existing works struggle with depth discontinuities, resulting in noisy predictions at object boundaries and do…
Vision transformers, with their ability to more efficiently model long-range context, have demonstrated impressive accuracy gains in several computer vision and medical image analysis tasks including segmentation. However, such methods need…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required they could make a difference. One such application is robot-assisted retinal microsurgery.…
Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…
In oncology research, accurate 3D segmentation of lesions from CT scans is essential for the modeling of lesion growth kinetics. However, following the RECIST criteria, radiologists routinely only delineate each lesion on the axial slice…
A central objective in computer vision is to design models with appropriate 2-D inductive bias. Desiderata for 2D inductive bias include two-dimensional position awareness, dynamic spatial locality, and translation and permutation…
Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…
Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…
To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…
Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…
Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…
Spatial transcriptomics (ST) enables the visualization of gene expression within the context of tissue morphology. This emerging discipline has the potential to serve as a foundation for developing tools to design precision medicines.…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can significantly reduce surgeons' fatigue during tele-operated…
Dynamic magnetic resonance imaging (MRI) plays an indispensable role in cardiac diagnosis. To enable fast imaging, the k-space data can be undersampled but the image reconstruction poses a great challenge of high-dimensional processing.…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Stereo Imaging technology integration into medical diagnostics and surgeries brings a great revolution in the field of medical sciences. Now, surgeons and physicians have better insight into the anatomy of patients' organs. Like other…