相关论文: Continual Hand-Eye Calibration for Open-world Robo…

We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…

We address the problem of safely solving complex bimanual robot manipulation tasks with sparse rewards. Such challenging tasks can be decomposed into sub-tasks that are accomplishable by different robots concurrently or sequentially for…

Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…

Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…

Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…

Continual lifelong learning is an machine learning framework inspired by human learning, where learners are trained to continuously acquire new knowledge in a sequential manner. However, the non-stationary nature of streaming training data…

Robust generalization in robotic manipulation is crucial for robots to adapt flexibly to diverse environments. Existing methods usually improve generalization by scaling data and networks, but model tasks independently and overlook…

Continual learning (CL) is a fundamental topic in machine learning, where the goal is to train a model with continuously incoming data and tasks. Due to the memory limit, we cannot store all the historical data, and therefore confront the…

The scarcity of annotated surgical data poses a significant challenge for developing deep learning systems in computer-assisted interventions. While diffusion models can synthesize realistic images, they often suffer from data memorization,…

Continual Anomaly Detection (CAD) enables anomaly detection models in learning new classes while preserving knowledge of historical classes. CAD faces two key challenges: catastrophic forgetting and segmentation of small anomalous regions.…

The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…

Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a capability rooted in their understanding of semantic correspondences between different instances. To…

Coordinated multi-arm manipulation requires satisfying multiple simultaneous geometric constraints across high-dimensional configuration spaces, which poses a significant challenge for traditional planning and control methods. In this work,…

Lifelong imitation learning for manipulation tasks poses significant challenges due to distribution shifts that occur in incremental learning steps. Existing methods often focus on unsupervised skill discovery to construct an ever-growing…

Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

Continual learning the ability of a neural network to learn multiple sequential tasks without catastrophic forgetting remains a central challenge in developing adaptive artificial intelligence systems. While deep learning models achieve…

Deep Metric Learning (DML) provides a crucial tool for visual similarity and zero-shot applications by learning generalizing embedding spaces, although recent work in DML has shown strong performance saturation across training objectives.…

Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…