相关论文: AffordTissue: Dense Affordance Prediction for Tool…

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…

Visual affordance segmentation identifies image regions of an object an agent can interact with. Existing methods re-use and adapt learning-based architectures for semantic segmentation to the affordance segmentation task and evaluate on…

The term "affordance" denotes the behavioral meaning of objects. We propose a cognitive architecture for the detection of affordances in the visual modality. This model is based on the internal simulation of movement sequences. For each…

The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and texture variations. Due to near-infinite degrees of freedom,…

Human affordance learning investigates contextually relevant novel pose prediction such that the estimated pose represents a valid human action within the scene. While the task is fundamental to machine perception and automated interactive…

In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

Formalizing surgical activities as triplets of the used instruments, actions performed, and target anatomies is becoming a gold standard approach for surgical activity modeling. The benefit is that this formalization helps to obtain a more…

Accurate grasping point prediction is a key challenge for autonomous tissue manipulation in minimally invasive surgery, particularly in complex and variable procedures such as colorectal interventions. Due to their complexity and prolonged…

This work demonstrates the benefits of using tool-tissue interaction forces in the design of autonomous systems in robot-assisted surgery (RAS). Autonomous systems in surgery must manipulate tissues of different stiffness levels and hence…

Functional affordance grounding requires more than recognizing an object: an agent must localize the specific region that supports an interaction, such as the handle to pull or the button to press. This is difficult for training-free…

Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…

In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects…

The growing popularity of robotic minimally invasive surgeries has made deep learning-based surgical training a key area of research. A thorough understanding of the surgical scene components is crucial, which semantic segmentation models…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods rely on labor-intensive annotations or rigid assumptions,…

From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articulation. Recent deep learning learning methods can provide…

Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…

Intra-operative anticipation of instrument usage is a necessary component for context-aware assistance in surgery, e.g. for instrument preparation or semi-automation of robotic tasks. However, the sparsity of instrument occurrences in long…