38 accepted papers
Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical datasets with precise depth annotations. While existing self…
Endoscopic images often suffer from diverse and co-occurring degradations such as low lighting, smoke, and bleeding, which obscure critical clinical details. Existing restoration methods are typically task-specific and often require prior knowledge of the degradation type, limiting their robustness
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing methods often rely on multi-stage pipelines that separate obje…
Cable-Driven Manipulators (CDM), which feature a flexible arm and spatial adaptability, are commonly used in engineering fields such as inspection and exploration. Adaptability and application cost can be achieved through structural innovations in the arm body and the driving control box. In this le
In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and therapeutic procedures. We developed a trileg magnetically driven soft robot (TMR) whose multi-legged design enables more fl…
This work presents a generalizable framework to transfer relative depth to metric depth. Current monocular depth estimation methods are mainly divided into metric depth estimation (MMDE) and relative depth estimation (MRDE). MMDEs estimate depth in metric scale but are often limited to a specific do
Enabling intuitive, language-driven interaction with surgical scenes is a critical step toward intelligent operating rooms and autonomous surgical robotic assistance. However, the task of referring segmentation, localizing surgical instruments based on natural language descriptions, remains underexp
Simultaneous Localization and Mapping (SLAM) is essential for precise surgical interventions and robotic tasks in minimally invasive procedures. While recent advancements in 3D Gaussian Splatting (3DGS) have improved SLAM with high-quality novel view synthesis and fast rendering, these systems strug
Vision-Language-Action (VLA) models have emerged as a prominent research area, showcasing significant potential across a variety of applications. However, their performance in endoscopy robotics, particularly endoscopy capsule robots that perform actions within the digestive system, remains unexplor
Robot-assisted Endoscopic Submucosal Dissection (ESD) improves the surgical procedure by providing a more comprehensive view through advanced robotic instruments and bimanual operation, thereby enhancing dissection efficiency and accuracy. Accurate prediction of dissection trajectories is crucial fo
In endoscopic procedures, autonomous tracking of abnormal regions and following of circumferential cutting markers can significantly reduce the cognitive burden on endoscopists. However, conventional model-based pipelines are fragile—each component (e.g., detection, motion planning) requires manual…
Forecasting over Temporal Knowledge Graphs (TKGs) which predicts future facts based on historical ones has received much attention. Recent studies have introduced Large Language Models (LLMs) for this task to enhance the models’ generalization abilities. However, these models perform forecasting via…
Empirical evidence indicates that LLMs exhibit spontaneous cross-lingual alignment. However, although LLMs show promising cross-lingual alignment in Information Extraction (IE), a significant imbalance across languages persists, highlighting an underlying deficiency. To address this, we propose Know…
Event Relation Extraction (ERE) aims to extract various types of relations between different events within texts. Although Large Language Models (LLMs) have demonstrated impressive capabilities in many natural language processing tasks, existing ERE methods based on LLMs still face three key challen…
Point cloud video perception has become an essential task for the realm of 3D vision. Current 4D representation learning techniques typically engage in iterative processing coupled with dense query operations. Although effective in capturing temporal features, this approach leads to substantial comp…
Surgical phase recognition is critical for assisting surgeons in understanding surgical videos. Existing studies focused more on online surgical phase recognition, by leveraging preceding frames to predict the current frame. Despite great progress, they formulated the task as a series of frame-wise
Multimodal Large Language Models (MLLMs) have demonstrated impressive performance in general visual understanding tasks. However, their potential for high-level, fine-grained comprehension, such as anomaly understanding, remains unexplored. Focusing on traffic accidents, a critical and practical sce…
Developing a general-purpose system that can extract events with massive types is a long-standing target in Event Extraction (EE). In doing so, the basic challenge comes from the absence of an efficient and effective annotation framework to construct the corresponding datasets. In this paper, we pro
In this paper, we aim to enhance the robustness of Universal Information Extraction (UIE) by introducing a new benchmark dataset, a comprehensive evaluation, and a feasible solution. Existing robust benchmark datasets have two key limitations: 1) They generate only a limited range of perturbations f…
Conventional Knowledge Graph Reasoning (KGR) models learn the embeddings of KG components over the structure of KGs, but their performances are limited when the KGs are severely incomplete. Recent LLM-enhanced KGR models input KG structural information into LLMs. However, they require fine-tuning on…
Surgical instrument segmentation is crucial in surgical scene understanding, thereby facilitating surgical safety. Existing algorithms directly detected all instruments of predefined categories in the input image, lacking the capability to segment specific instruments according to the surgeon’s inte
Event detection is one of the fundamental tasks in information extraction and knowledge graph. However, a realistic event detection system often needs to deal with new event classes constantly. These new classes usually have only a few labeled instances as it is time-consuming and labor-intensive to…
Robotic object packing has broad practical applications in the logistics and automation industry, often formulated by researchers as the online 3D Bin Packing Problem (3D-BPP). However, existing DRL-based methods primarily focus on enhancing performance in limited packing environments while neglecti
Nested Event Extraction (NEE) aims to extract complex event structures where an event contains other events as its arguments recursively. Nested events involve a kind of Pivot Elements (PEs) that simultaneously act as arguments of outer-nest events and as triggers of inner-nest events, and thus conn…
In the realm of automated robotic surgery and computer-assisted interventions, understanding robotic surgical activities stands paramount. Existing algorithms dedicated to surgical activity recognition predominantly cater to pre-defined closed-set paradigms, ignoring the challenges of real-world ope…
Temporal Knowledge Graph (TKG), which characterizes temporally evolving facts in the form of (subject, relation, object, timestamp), has attracted much attention recently. TKG reasoning aims to predict future facts based on given historical ones. However, existing TKG reasoning models are unable to…
Large language models (LLMs) have recently demonstrated remarkable performance across various Natual Language Processing tasks. In the field of multi-hop reasoning, the Chain-of-thought (CoT) prompt method has emerged as a paradigm, using curated stepwise reasoning demonstrations to enhance LLM's ab…
Script is a kind of structured knowledge extracted from texts, which contains a sequence of events. Based on such knowledge, script event prediction aims to predict the subsequent event. To do so, two aspects should be considered for events, namely, event description (i.e., what the events should co…
Robust 3D perception under corruption has become an essential task for the realm of 3D vision. While current data augmentation techniques usually perform random transformations on all point cloud objects in an offline way and ignore the structure of the samples, resulting in over-or-under enhancemen…
Event Causality Identification (ECI) aims to identify causal relations between events in unstructured texts. This is a very challenging task, because causal relations are usually expressed by implicit associations between events. Existing methods usually capture such associations by directly modelin…
Despite the availability of computer-aided simulators and recorded videos of surgical procedures, junior residents still heavily rely on experts to answer their queries. However, expert surgeons are often overloaded with clinical and academic workloads and limit their time in answering. For this pur…
Reasoning over Temporal Knowledge Graphs (TKGs) that predicts temporal facts (e.g., events) in the future is crucial for many applications. The temporal facts in existing TKGs only contain their core entities (i.e., the entities playing core roles therein) and formulate them as quadruples, i.e., (su…
A Temporal Knowledge Graph (TKG) is a sequence of KGs corresponding to different timestamps. TKG reasoning aims to predict potential facts in the future given the historical KG sequences. One key of this task is to mine and understand evolutional patterns of facts from these sequences. The evolution…
A Temporal Knowledge Graph (TKG) is a sequence of KGs with respective timestamps, which adopts quadruples in the form of (subject, relation, object, timestamp) to describe dynamic facts. TKG reasoning has facilitated many real-world applications via answering such queries as (query entity, query rel…
Prototypical network based joint methods have attracted much attention in few-shot event detection, which carry out event detection in a unified sequence tagging framework. However, these methods suffer from the inaccurate prototype representation problem, due to two main reasons: the number of inst…
Complex question generation over knowledge bases (KB) aims to generate natural language questions involving multiple KB relations or functional constraints. Existing methods train one encoder-decoder-based model to fit all questions. However, such a one-size-fits-all strategy may not perform well si…
Scripts are structured sequences of events together with the participants, which are extracted from the texts. Script event prediction aims to predict the subsequent event given the historical events in the script. Two kinds of information facilitate this task, namely, the event-level information an…