7 accepted papers
One of the most challenging problems in graph machine learning is generalizing across graphs with diverse properties. Graph neural networks (GNNs) face a fundamental limitation: they require separate training for each new graph, preventing universal generalization across diverse graph datasets. A cr…
Large Language Models (LLMs) have recently emerged as promising tools for knowledge tracing due to their strong reasoning and generalization abilities. While recent LLM-based KT methods have introduced new prompt formats, they struggle to reflect the histories of example learners within a single pro
Tendon-driven continuum robots show promise for use in surgical applications as they can assume complex configurations to navigate along tortuous paths. However, to achieve these complex robot shapes, multiple segments are required as each robot segment can bend only with a single constant curvature…
Concentric tube robots are catheter-sized continuum robots that show dexterous movement for minimally invasive surgical procedures. However, one of the major challenges to the practical usage of concentric tube robots is their instability, which potentially leads to the risk of tissue rupture. The s
During the last two decades, minimally invasive surgery (MIS) has become popular because it offers advantages such as less pain, faster recovery, improved cosmesis, and reduced complications. Single-port laparoscopic surgery is a form of MIS where surgeons operate exclusively through a single entry.…
A laparoscopic surgery can be made less invasive by utilizing slimmer tools. However, at the size scale of the microlaparoscopic instruments, it has been very challenging to incorporate a wrist mechanism for dexterous manipulation at the surgical sites. In this letter, we present a 5-mm wristed inst
One of the major problems in utilizing origami structures is ensuring variable stiffness; a deployable structure needs to become stiff or flexible according to the requirements of its use in an application. In this study, we present a self-deploying tubular origami mechanism that switches between tw…