12 accepted papers
Abstract visual reasoning remains challenging as existing methods often prioritize either global context or local row-wise relations, failing to integrate both, and lack intermediate feature constraints, leading to incomplete rule capture and entangled representations. To address these issues, we pr…
Effective detection of unknown network security threats in multi-class imbalanced environments is critical for maintaining cyberspace security. Current methods focus on learning class representations but face challenges with unknown threat detection, class imbalance, and lack of interpretability, li…
Vision-Language-Action (VLA) models process visual inputs independently at each timestep, discarding valuable temporal information inherent in robotic manipulation tasks. This frame-by-frame processing makes models vulnerable to visual noise while ignoring the substantial coherence between consecuti
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Capsule medicine is one of the most widely used methods of drug delivery into the human digestive tract. Packaging drugs into capsules not only prevents contamination of the drug before reaching the destination, but also protects the digestive organs and respiratory tract from potential damages caus
Magnetically actuated medical instruments could greatly facilitate minimally invasive surgery (MIS). For example, onboard magnetic materials help catheters travel across tortuous lumens and reach difficult-to-access sites inside human bodies, guided by a controlled magnetic field (MF). However, perm
Locomotion is a fundamental capability that all mobile robots strive to achieve. A large variety of magnetic miniature robots have been proposed to leverage the magnetic forces and torques between internal magnetic agents and external magnetic fields to enable various locomotion on different terrain
Magnetic miniature robots exert forces and torques onto the environment to conduct minimally invasive diagnostic and therapeutic tasks. The orders of magnitude of forces and torques determine what functionalities these robots can achieve. Although some studies have been dispersedly reported, the for
Untethered mobile microgrippers exhibit flexibility and agility in small and constrained environments as precise and accurate robotic end-effectors, with promising potential applications in cell manipulation and microassembly. Here, we propose the first scheme to independently and simultaneously pos…
Manipulation of micrometer to millimeter-scale objects is central to biotechnological and medical applications involving small-scale robotic devices. Mobile untethered microgrippers have been developed, which use magnetic fields for motion and activation of grasping. This letter extends the capabili
We present a method to independently control two millimeter-scale soft-bodied magnetic swimmers, with nominal dimensions of 1.5 × 4.9 × 0.06 mm. A swimmer's speed depends on its relative angle with the actuation magnetic field. The two swimmers under control have different directions of net magnetic
This paper presents a new soft-bodied millimeterscale swimmer actuated by rotating uniform magnetic fields. The proposed swimmer moves through internal undulatory deformations, resulting from a magnetization profile programmed into its body. To understand the motion of the swimmer, a mathematical mo…