相关论文: Learning-Based Adaptive Control for Surgical Robot…

Regularization strategies in medical image registration often take a one-size-fits-all approach by imposing uniform constraints across the entire image domain. Yet biological structures are anything but regular. Lacking structural…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…

Robotic manipulation of deformable linear objects (DLOs) has broad application prospects in many fields. However, a key issue is to obtain the exact deformation models (i.e., how robot motion affects DLO deformation), which are hard to…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

Object detection in aerial images is an active yet challenging task in computer vision because of the birdview perspective, the highly complex backgrounds, and the variant appearances of objects. Especially when detecting densely packed…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Robot-assisted surgical systems have demonstrated significant potential in enhancing surgical precision and minimizing human errors. However, existing systems cannot accommodate individual surgeons' unique preferences and requirements.…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…

Deformable objects present several challenges to the field of robotic manipulation. One of the tasks that best encapsulates the difficulties arising due to non-rigid behavior is shape control, which requires driving an object to a desired…

Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions,…

Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…

Region of Interest (ROI)-based image compression optimizes bit allocation by prioritizing ROI for higher-quality reconstruction. However, as the users (including human clients and downstream machine tasks) become more diverse, ROI-based…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

This study presents an unsupervised domain adaptation method aimed at autonomously generating image masks outlining regions of interest (ROIs) for differentiating breast lesions in breast ultrasound (US) imaging. Our semi-supervised…