35 accepted papers
Robotic grasp has been employed in various industrial, household, and medical applications. However, neglecting the final grasping state and objects' stiffness and affordance, prevailing strategies predominantly emphasize the grippers’ initial state upon reaching grasp positions and often fail due t…
Cardiac ultrasound diagnosis is critical for cardiovascular disease assessment, but acquiring standard views remains highly operator-dependent. Existing medical segmentation models often yield anatomically inconsistent results in images with poor textural differentiation between distinct feature cla…
Multi-robot coordination in shared workspaces is prone to deadlocks, which can compromise operational capabilities and task efficiency. Accurately determining the timing and spatial locations of deadlocks is essential for effective resolution, yet remains challenging due to dynamic robot interaction…
Data gloves offer excellent portability and a strong ability to handle occluded movements, making them more advantageous over other methods for capturing complex hand motions in unstructured environments. However, the majority of existing hand-motion-capture gloves do not preserve visual features of
Data gloves offer excellent portability and a strong ability to handle occluded movements, making them more advantageous over other methods for capturing complex hand motions in unstructured environments. However, the majority of existing hand-motion-capture gloves do not preserve visual features of…
Harmonious human-robot collaboration requires the robot to behave like a human partner, which raises the critical question of what factors make the robot do so. This paper proposes a series of policies based on empathetic and non-empathetic intent inference, proactive and reactive action planning, a…
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry, nonlinear biomechanical properties of overlying tissues, and limite…
Reward function design remains a fundamental challenge in reinforcement learning of humanoid robots, where handcrafted rewards often fail to capture human-like behavior, limit generalization, and require costly manual tuning. Addressing this bottleneck is essential for enabling scalable, adaptive, i
Since the advent of large language models (LLMs), prompt engineering has been a crucial step for eliciting desired responses for various Natural Language Processing (NLP) tasks. However, prompt engineering remains an impediment for end users due to rapid advances in models, tasks, and associated bes
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and extended state observers (ESO) to estimate external disturbances
Deformable object manipulation (DOM) which is a common subtask in various surgical procedures represents an inevitable challenge in robot-assisted surgery (RAS) due to complex nonlinear deformation. This paper proposes a deep reinforcement learning guided adaptive control (RLAC) modelfree framework,
Legged robots employ multiple joint actuators that are susceptible to abrupt partial failures during prolonged operation. Joint failures take multiple forms. They are not limited to complete lockout failures, which are the main focus of existing literature. They also include partial torque tracking
This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable localization in low-texture environments, where traditional point-
Circular electrical connectors (CECs) have a wide range of applications in scenarios that require reliable connections. However, sockets are often located in narrow scenes with random spatial orientations, complex lighting conditions, and obstructions from cables, making it difficult to accurately l
LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current semi-supervised methods typically focus on point cloud spatial distributi…
Surgical procedures are inherently complex and dynamic, with intricate dependencies and various execution paths. Accurate identification of the intentions behind critical actions, referred to as Primary Intentions (PIs), is crucial to understanding and planning the procedure. This paper presents a n
The letter considers the multi-robot collaborative manipulation with load sharing characteristic, when dynamic parameters of the system composed of multiple robots and the rigid body are unknown. Load sharing refers to each robot calculating the required wrench for the manipulation task itself and a
The inherent flexibility and real-time deformation of breast tissue pose significant challenges for achieving full coverage and accurate lesion localization in autonomous breast ultrasound scanning. This paper introduces a robust finite state machine-based framework that mimics the decision-making p
Accurate assessment of guidewire shape and contact forces is critical for autonomous robotic endovascular procedures. However, existing sensor-based approaches often require modifications to standard guidewires or the use of custom-made alternatives, which can hinder integration into conventional su
Recent advances such as OpenAI-o1 and DeepSeek R1 have demonstrated the potential of Reinforcement Learning (RL) to enhance reasoning abilities in Large Language Models (LLMs). While open-source replication efforts have primarily focused on mathematical and coding domains, methods and resources for…
Soft growing robots with unique navigation (tip extension by eversion) hold great promise in rescue, medical, and industrial applications. Equipping them with grasping capability would enhance their usefulness in constrained environments for various applications. However, in traditional designs, the…
Diffusion-based generative modeling has been achieving state-of-the-art results on various generation tasks. Most diffusion models, however, are limited to a single-generation modeling. Can we generalize diffusion models with the ability of multi-modal generative training for more generalizable mode…
Accurate anatomical landmark tracking is crucial yet challenging in laparoscopic surgery due to the changing appearance of landmarks during dynamic tool-anatomy interactions and visual domain shifts between cases. Unlike appearance-based detection methods, this work proposes a novel graph-based appr
Although soft manipulators are endowed with compliance and flexibility, most control strategies focus on end-effector control and lack shape control ability. This letter aims to design a shape controller for the soft manipulator. Firstly, we establish a modified forward kinematics model (FKM) based
Wi-Fi signals in contrast to cameras offer privacy protection and occlusion resilience for some practical scenarios such as smart homes elderly care and virtual reality. Recent years have seen remarkable progress in the estimation of single-person 2D pose single-person 3D pose and multi-person 2D po…
In minimally invasive endovascular interventional surgery, guidewire navigation is an indispensable process. However, even experienced physicians often encounter difficulties in manually manipulating the guidewire for branch selection, while also facing the risk of radiation exposure. In this study,…
In this paper, we propose KGenre, a knowledge-embedded music representation learning framework for improved genre classification. We construct the knowledge graph from the metadata in the open-source FMA-medium and OpenMIC-2018 datasets, with no extra information/effort required. KGenre then mines t…
Robot-Assisted Minimally Invasive Surgery (RAMIS), which introduced robot-actuated invasive tools to increase the dexterity and efficiency of traditional MIS, has become popular. Investigations on how to achieve autonomy in RAMIS have drawn vast intention recently, which urges further insights into…
The automated laparoscope control can ensure the stability of the laparoscopic image and enhance the performance of surgeons during surgical operations. The letter presented a method that autonomously adjusted the laparoscope pose to obtain the optimal field of view (FOV). An optimization problem wa
Perception and portability are critical issues for wearable gloves in hand assistive engineering. However, available wearable gloves either lack flexible sensing or are bulky. In this paper, we present a tendon-driven lightweight wearable glove with soft joint sensing, Sen-Glove. Sen-Glove is equipp…
Quadrotor with active sensing was proposed recently to overcome the view field limitation and achieved an excellent perception ability in obstacle avoidance tasks. To realize high-speed flights of this quadrotor in unknown and cluttered environments, a computationally efficient trajectory planner is
With no force sensors, estimating forces for robotic manipulation has gained a lot of attention. However, for industrial robots with harmonic drives (flexible joints), deviations between joint and motor positions inevitably deteriorate the force estimation performance due to the lack of encoders on
This paper presents a novel eddy current damper design for chatter suppression in robotic milling process. The designed eddy current dampers are installed on a milling spindle to damp the tool tip vibrations. The structural design of the eddy current dampers and the working principle of the proposed…
Without the 3-D geometry of the target and robust to camera calibration error, image-based visual servoing schemes have gained a lot of attention. However, the depth of the selected feature, which is involved in the interaction matrix relating the time variation of the feature to the velocity twist…
This paper presents a trajectory tracking control strategy based on the subspace stabilization approach to accurately manipulate an under-actuated flying robot from a known initial state to the desired terminal state. To facilitate the development of this tracking strategy, the dynamical model of th…