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09/15/2023
AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT
Towards flexible object-centric visual perception, we propose a one-shot...
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07/20/2023
Towards Non-Parametric Models for Confidence Aware Image Prediction from Low Data using Gaussian Processes
The ability to envision future states is crucial to informed decision ma...
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07/19/2023
Object-centric Representations for Interactive Online Learning with Non-Parametric Methods
Large offline learning-based models have enabled robots to successfully ...
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03/31/2023
SemHint-MD: Learning from Noisy Semantic Labels for Self-Supervised Monocular Depth Estimation
Without ground truth supervision, self-supervised depth estimation can b...
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02/28/2023
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
Solving the camera-to-robot pose is a fundamental requirement for vision...
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02/27/2023
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
State estimation from measured data is crucial for robotic applications ...
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02/24/2023
Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion
Applications of rolling diaphragm transmissions for medical and teleoper...
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01/26/2023
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
Robots "in-the-wild" encounter and must traverse widely varying terrain,...
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10/29/2022
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Classification, Reconstruction, and Tracking
Accurate and robust tracking and reconstruction of the surgical scene is...
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10/21/2022
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Autonomous suturing has been a long-sought-after goal for surgical robot...
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10/07/2022
Knowledge-Grounded Reinforcement Learning
Receiving knowledge, abiding by laws, and being aware of regulations are...
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02/20/2022
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics
Robot manipulation of rope-like objects is an interesting problem that h...
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01/15/2022
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics
Simulation modeling of robots, objects, and environments is the backbone...
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11/22/2021
Image Based Reconstruction of Liquids from 2D Surface Detections
In this work, we present a solution to the challenging problem of recons...
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09/28/2021
CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores
Physicians perform minimally invasive percutaneous procedures under Comp...
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09/26/2021
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
Suture needle localization plays a crucial role towards autonomous sutur...
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09/24/2021
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling
Innovations from surgical robotic research rarely translates to live sur...
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07/30/2021
ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility
Exploring and navigating in extreme environments, such as caves, oceans,...
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07/22/2021
Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions
This paper introduces Chance Constrained Gaussian Process-Motion Plannin...
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06/05/2021
Motion Planning Transformers: One Model to Plan Them All
Transformers have become the powerhouse of natural language processing a...
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06/02/2021
NeRP: Neural Rearrangement Planning for Unknown Objects
Robots will be expected to manipulate a wide variety of objects in compl...
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04/15/2021
Data-driven Actuator Selection for Artificial Muscle-Powered Robots
Even though artificial muscles have gained popularity due to their compl...
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04/13/2021
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery
Robot arm placements are oftentimes a limitation in surgical preoperativ...
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02/11/2021
Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach
Anytime a robot manipulator is controlled via visual feedback, the trans...
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02/02/2021
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations
Recent developments in surgical robotics have led to new advancements in...
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01/17/2021
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to c...
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11/09/2020
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
Regrasping a suture needle is an important process in suturing, and prev...
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10/26/2020
A 2D Surgical Simulation Framework for Tool-Tissue Interaction
The control and task automation of robotic surgical system is very chall...
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10/17/2020
Constrained Motion Planning Networks X
Constrained motion planning is a challenging field of research, aiming f...
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10/16/2020
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection
Autonomous robotic surgery has seen significant progression over the las...
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08/12/2020
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots
Reliable real-time planning for robots is essential in today's rapidly e...
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08/09/2020
Neural Manipulation Planning on Constraint Manifolds
The presence of task constraints imposes a significant challenge to moti...
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05/29/2020
Stochastic Modeling of Distance to Collision for Robot Manipulators
Evaluating distance to collision for robot manipulators is useful for as...
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10/14/2019
Forward Kinematics Kernel for Improved Proxy Collision Checking
Kernel functions may be used in robotics for comparing different poses o...
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10/07/2019
CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures
Interventional Radiology (IR) enables earlier diagnosis and less invasiv...
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09/25/2019
ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments
This paper presents the design and performance of a screw-propelled redu...
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09/11/2019
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics
Traditional control and task automation have been successfully demonstra...
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07/13/2019
Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners
This paper describes Motion Planning Networks (MPNet), a computationally...
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05/25/2019
Composing Ensembles of Policies with Deep Reinforcement Learning
Composition of elementary skills into complex behaviors to solve challen...
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04/25/2019
Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation
Fast and efficient path generation is critical for robots operating in c...
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03/11/2019
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners
This paper describes the design, manufacture, and performance of a highl...
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03/05/2019
Open-Sourced Reinforcement Learning Environments for Surgical Robotics
Reinforcement Learning (RL) is a machine learning framework for artifici...
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02/08/2019
Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation
Robotic teleoperation brings great potential for advances within the fie...
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09/26/2018
Deeply Informed Neural Sampling for Robot Motion Planning
Sampling-based Motion Planners (SMPs) have become increasingly popular a...
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09/23/2018
Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery
Surgical robots offer the exciting potential for remote telesurgery, but...
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09/17/2018
Adversarial Imitation via Variational Inverse Reinforcement Learning
We consider a problem of learning a reward and policy from expert exampl...
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06/14/2018