9 accepted papers
Percutaneous coronary intervention (PCI) involves the insertion of a catheter or guidewire into a blood vessel of a patient, which poses a problem as a doctor is exposed to radiation during the procedure. The use of assistive robots has been proposed to address this issue. Furthermore, recent resear
Recent advances in large language models (LLMs) have demonstrated exceptional reasoning capabilities in natural language processing, sparking interest in applying LLMs to task planning problems in robotics. Most studies focused on task planning for clear natural language commands that specify target
We propose a novel motion-based tracker specifically designed for tracking multiple people in low frame rate scenarios. While previous studies have predominantly focused on scenarios with high frame rates (exceeding 10 frames per second), tracking in low frame rate conditions is significant for robo
Multi-object tracking (MOT) presents a crucial challenge in robotics. Due to limited resources embedded in robots, one time step per processing time for algorithms can be considerably large. This scenario necessitates the operation of MOT at a low frame rate. However, algorithms within the MOT resea…
This paper presents a novel method for state estimation of rigid body attitude system evolving on the manifold S3, which is crucial in robotics and drone applications. We introduce a particle filter with stable embedding that extends the system into Euclidean space while ensuring stability of the ma…
The optimization with orthogonality has been shown useful in training deep neural networks (DNNs). To impose orthogonality on DNNs, both computational efficiency and stability are important. However, existing methods utilizing Riemannian optimization or hard constraints can only ensure stability…
With the growing application of various robots in real life, the need for an automatic anomaly detection system for robots is necessary for safety. In this paper, we develop an anomaly detection method using a stacked LSTM that can be applied to any robot controlled by a feedback control. Our method…
Percutaneous coronary intervention (PCI) is a frequently used surgical treatment for cardiovascular disease, one of the leading cause of death in the world. In traditional PCI, a doctor navigates a thin guidewire in a patient's vessel toward a target location by looking into live X-ray angiogram ima…
This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a state-of-the-art planner and controller to generate low-level control comma…