Michael C. Yip

research

∙ 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...

0 Fangbo Qin, et al. ∙

research

∙ 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...

0 Nikhil U. Shinde, et al. ∙

research

∙ 07/19/2023

Object-centric Representations for Interactive Online Learning with Non-Parametric Methods

Large offline learning-based models have enabled robots to successfully ...

0 Nikhil U. Shinde, et al. ∙

research

∙ 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...

0 Shan Lin, et al. ∙

research

∙ 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...

0 Jingpei Lu, et al. ∙

research

∙ 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 ...

0 Jingpei Lu, et al. ∙

research

∙ 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...

0 Hoi Man Lam, et al. ∙

research

∙ 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,...

0 Jason Lim, et al. ∙

research

∙ 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...

0 Shan Lin, et al. ∙

research

∙ 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...

0 Zih-Yun Chiu, et al. ∙

research

∙ 10/07/2022

Knowledge-Grounded Reinforcement Learning

Receiving knowledge, abiding by laws, and being aware of regulations are...

0 Zih-Yun Chiu, et al. ∙

research

∙ 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...

0 Fei Liu, et al. ∙

research

∙ 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...

0 Fei Liu, et al. ∙

research

∙ 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...

15 Florian Richter, et al. ∙

research

∙ 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...

0 Dimitri A. Schreiber, et al. ∙

research

∙ 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...

0 Zih-Yun Chiu, et al. ∙

research

∙ 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...

0 Florian Richter, et al. ∙

research

∙ 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,...

0 Florian Richter, et al. ∙

research

∙ 07/22/2021

Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions

This paper introduces Chance Constrained Gaussian Process-Motion Plannin...

0 Jacob J. Johnson, et al. ∙

research

∙ 06/05/2021

Motion Planning Transformers: One Model to Plan Them All

Transformers have become the powerhouse of natural language processing a...

0 Jacob J. Johnson, et al. ∙

research

∙ 06/02/2021

NeRP: Neural Rearrangement Planning for Unknown Objects

Robots will be expected to manipulate a wide variety of objects in compl...

42 Ahmed H. Qureshi, et al. ∙

research

∙ 04/15/2021

Data-driven Actuator Selection for Artificial Muscle-Powered Robots

Even though artificial muscles have gained popularity due to their compl...

0 Taylor West Henderson, et al. ∙

research

∙ 04/13/2021

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

Robot arm placements are oftentimes a limitation in surgical preoperativ...

0 James Di, et al. ∙

research

∙ 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...

0 Florian Richter, et al. ∙

research

∙ 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...

0 Jingbin Huang, et al. ∙

research

∙ 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...

0 Linjun Li, et al. ∙

research

∙ 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...

0 Zih-Yun Chiu, et al. ∙

research

∙ 10/26/2020

A 2D Surgical Simulation Framework for Tool-Tissue Interaction

The control and task automation of robotic surgical system is very chall...

0 Yunhai Han, et al. ∙

research

∙ 10/17/2020

Constrained Motion Planning Networks X

Constrained motion planning is a challenging field of research, aiming f...

0 Ahmed H. Qureshi, et al. ∙

research

∙ 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...

0 Florian Richter, et al. ∙

research

∙ 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...

0 Jacob J. Johnson, et al. ∙

research

∙ 08/09/2020

Neural Manipulation Planning on Constraint Manifolds

The presence of task constraints imposes a significant challenge to moti...

0 Ahmed H. Qureshi, et al. ∙

research

∙ 05/29/2020

Stochastic Modeling of Distance to Collision for Robot Manipulators

Evaluating distance to collision for robot manipulators is useful for as...

0 Nikhil Das, et al. ∙

research

∙ 10/14/2019

Forward Kinematics Kernel for Improved Proxy Collision Checking

Kernel functions may be used in robotics for comparing different poses o...

0 Nikhil Das, et al. ∙

research

∙ 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...

0 Dimitri A. Schreiber, et al. ∙

research

∙ 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...

0 Dimitri A. Schreiber, et al. ∙

research

∙ 09/11/2019

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics

Traditional control and task automation have been successfully demonstra...

9 Yang Li, et al. ∙

research

∙ 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...

3 Ahmed H. Qureshi, et al. ∙

research

∙ 05/25/2019

Composing Ensembles of Policies with Deep Reinforcement Learning

Composition of elementary skills into complex behaviors to solve challen...

0 Ahmed H. Qureshi, et al. ∙

research

∙ 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...

32 Mayur J. Bency, et al. ∙

research

∙ 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...

0 Dimitri A. Schreiber, et al. ∙

research

∙ 03/05/2019

Open-Sourced Reinforcement Learning Environments for Surgical Robotics

Reinforcement Learning (RL) is a machine learning framework for artifici...

0 Florian Richter, et al. ∙

research

∙ 02/08/2019

Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation

Robotic teleoperation brings great potential for advances within the fie...

0 Florian Richter, et al. ∙

research

∙ 09/26/2018

Deeply Informed Neural Sampling for Robot Motion Planning

Sampling-based Motion Planners (SMPs) have become increasingly popular a...

0 Ahmed H. Qureshi, et al. ∙

research

∙ 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...

0 Florian Richter, et al. ∙

research

∙ 09/17/2018

Adversarial Imitation via Variational Inverse Reinforcement Learning

We consider a problem of learning a reward and policy from expert exampl...

2 Ahmed H. Qureshi, et al. ∙

research

∙ 06/14/2018

Motion Planning Networks

Fast and efficient motion planning algorithms are crucial for many state...

0 Ahmed H. Qureshi, et al. ∙

Michael C. Yip

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