36 accepted papers
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…
Expressive Human Pose and Shape Estimation (EHPS) plays a crucial role in various AR/VR applications and has witnessed significant progress in recent years. However, current state-of-the-art methods still struggle with accurate parameter estimation for facial and hand regions and exhibit limited gen
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…
Large language model (LLM)-based visual dialogue (VD) systems have made response generation for image-grounded conversations more correct and coherent. However, user engagement - the extent to which a user is interested, emotionally involved, and willing to continue the conversation - remains a chal
Affective computing has achieved notable success in recognizing explicit emotions from short, isolated dialogue segments. However, human emotions are often implicitly expressed, internally regulated, and dynamically evolve over extended interactions. Existing models struggle to disentangle internal
Existing multimodal representation learning approaches often rely on simple feature concatenation or unified transformations, which fail to effectively disentangle and leverage common and private information across different modalities in a progressive manner. Moreover, they typically lack adaptive
Scientific images often require accurate numerical representations and correct object attributes. However, current faithfulness metrics are primarily tailored toward photorealistic, real-life imagery, rendering them ill-suited for scientific image evaluation. To address this gap, we introduce a nove
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,
Text-driven human motion generation has attracted considerable critical attention in recent years. The task requires generating movements that are diverse, natural, and comfortable in accordance with the text description. However, while generating the human motion, there is a significant gap in the…
Conversational Emotion Recognition (CER) has recently been explored through conversational context modeling to learn the emotion distribution, i.e., the likelihood over emotion categories associated with each utterance. While these methods have shown promising results in emotion classification, they…
Multimodal Emotion Recognition in Conversations (ERC) plays a crucial role in understanding human language and behavior in real-world scenarios. However, existing research tends to simply concatenate multimodal representations, failing to capture the complex relationships between modalities. Recent…
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
We revisit knowledge-based visual reasoning (KB-VR) in light of modern advances in multimodal large language models (MLLMs), and make the following contributions: (i) We propose Visual Knowledge Card (VKC) – a novel image that incorporates not only internal visual knowledge (e.g., scene-aware inform…
Large language models (LLMs) can enhance automatic speech recognition (ASR) systems through generative error correction (GEC). In this paper, we propose Pinyin-enhanced GEC (PY-GEC), which leverages Pinyin—the phonetic representation of Mandarin Chinese—as supplementary information to improve Chines…
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 Pre-trained Speech Models (PSMs) generate universal speech representations using self-supervised or weakly-supervised learning from large-scale datasets. It achieves promising performance when fine-tuned for specific tasks such as Speech Emotion Recognition (SER). However, fine-tuning on various…
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
In multimodal human-computer interaction, generating co-speech gestures is crucial for enhancing interaction naturalness and user experience. However, achieving synchronized and natural gesture sequences remains a significant challenge due to the complexity of modeling temporal dependencies across d…
Graph representation learning has become a hot research topic due to its powerful nonlinear fitting capability in extracting representative node embeddings. However, for sequential data such as speech signals, most traditional methods merely focus on the static graph created within a sequence, and l…
The advent of large language models (LLMs) has gained tremendous attention over the past year. Previous studies have shown the astonishing performance of LLMs not only in other tasks but also in emotion recognition in terms of accuracy, universality, explanation, robustness, few/zero-shot learning,…
This paper introduces EmoTransKG, an innovative Emotion Knowledge Graph (EKG) that establishes connections and transformations between emotions across diverse open-textual events. Compared to existing EKGs, which primarily focus on linking emotion keywords to related terms or on assigning sentiment…
Conversational Emotion Recognition (CER) aims to predict the emotion expressed by an utterance (referred to as an "event") during a conversation. Existing graph-based methods mainly focus on event interactions to comprehend the conversational context, while overlooking the direct influence of the sp…
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
Generating high-quality responses is a key challenge for any open domain dialogue systems. However, even though there exist a variety of quality dimensions especially designed for dialogue evaluation (e.g., coherence and diversity scores), current dialogue systems rarely utilize them to guide the re…
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,…
Federal learning-based (FL) Speech Emotion Recognition (SER) framework aims to protect data privacy when characterizing emotions. However, previous studies have shown that the framework is vulnerable, because curious servers can indirectly infer user private information. To address this challenge, w…
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
Representations of events described in text are important for various tasks. In this work, we present SWCC: a Simultaneous Weakly supervised Contrastive learning and Clustering framework for event representation learning. SWCC learns event representations by making better use of co-occurrence inform…
We present Mask-then-Fill, a flexible and effective data augmentation framework for event extraction. Our approach allows for more flexible manipulation of text and thus can generate more diverse data while keeping the original event structure unchanged as much as possible. Specifically, it first ra…
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
Despite the great advances, most of the recently developed automatic speech recognition systems focus on working in a server-client manner, and thus often require a high computational cost, such as the storage size and memory accesses. This, however, does not satisfy the increasing demand for a succ…
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…