30 accepted papers
Unsupervised Camouflaged Object Detection (UCOD) remains a challenging task due to the high intrinsic similarity between target objects and their surroundings, as well as the reliance on noisy pseudo-labels that hinder fine-grained texture learning. While existing refinement strategies aim to allevi
Multimodal Federated Learning (MFL) enables clients with heterogeneous data modalities to collaboratively train models without sharing raw data, offering a privacy-preserving framework that leverages complementary cross-modal information. However, existing methods often overlook personalized client
Temporal Sentence Grounding in Videos (TSGV) aims to temporally localize segments of a video that correspond to a given natural language query. Despite recent progress, most existing TSGV approaches operate under closed-vocabulary settings, limiting their ability to generalize to real-world queries
Traditional policy learning methods in cooperative pursuit face fundamental challenges in biomimetic underwater robots, where long-horizon decision making, partial observability, and inter-robot coordination require both expressiveness and stability. To address these issues, a novel framework called…
Feed-forward 3D reconstruction from sparse, low-resolution (LR) images is a crucial capability for real-world applications, such as autonomous driving and embodied AI. However, existing methods often fail to recover fine texture details. This limitation stems from the inherent lack of high-frequency
Biological adhesion represents a remarkable evolutionary adaptation, as exemplified by remoras using dorsal suction cups for hitchhiking and octopuses employing independently controllable suction cups to adhere to complex surfaces. Therefore, this study focuses on the design, quantitative analysis,
Panoptic 3D reconstruction from a monocular video is a fundamental perceptual task in robotic scene understanding. However, existing efforts suffer from inefficiency in terms of inference speed and accuracy, limiting their practical applicability. We present EPRecon, an efficient real-time panoptic
Robotic pose servoing aims to move the robot end-effector to the target pose. Closed-loop servo systems can tolerate a small TCF (tool control frame) calibration error and accurately reach the target pose through multiple pose measurements and pose adjustments. However, the maximum allowable TCF cal
Accurate 3D perception is essential for underwater vehicles in tasks such as seabed mapping, structural reconstruction, and environmental monitoring. However, optical cameras struggle in underwater environments due to light attenuation, scattering, and blurring, while forward-looking sonar suffers f
Benefiting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable flexibility even within confined spaces. However, its motion planning and control pose significant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controlla…
As a new-type underwater robot with outstanding motion performance and environmental friendliness, bionic robotic fish holds enormous potential in the field of ocean exploration. In practical application, it is a vital mission for underwater robots to accomplish efficient and stable autonomous recov
This letter presents the first trajectory planning method for hybrid robot to perform powerline inspection involving obstacle navigation and landing. We develop a geometric model that incorporates constraints for landing the hybrid robot on a powerline, obstacle avoidance, and objectives that maximi
Building click-through rate (CTR) and conversion rate (CVR) prediction models for cross-border e-commerce search requires modeling the correlations among multi-domains. Existing multi-domain methods would suffer severely from poor scalability and low efficiency when number of domains increases. To t…
Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant man…
In scenarios of the overhead power line system, manual methods are inefficient and unsafe. Meanwhile, the majority of cantilevered robots have poor efficiency when crossing obstacles. This letter proposes a novel power line inspection and maintenance robot to solve these problems. The robot employs
The high speed and low energy cost are two conflicting objectives in the motion optimization of bio-inspired underwater robots, but playing a very important role. To this end, this paper proposes an optimization strategy for swimming speed and power cost using an improved NSGA-II for a flexible robo…
This paper investigates the event-triggered-based pursuing and surrounding control of a multi-robotic fish system. A distributed surrounding control framework is put forward to deploy the whole system and enclose the dynamic evader into a convex hull. In particular, distributed kinematics-based moti
In this letter, we propose RI-LIO, a new reflectivity image assisted tightly-coupled LiDAR-inertial odometry (LIO) framework that introduces additional reflectivity texture information to efficiently reduce the drift of geometric-only methods. To achieve this, we construct an iterated extended Kalma
This paper proposes a tightly-coupled visual-Doppler-Velocity-Log (visual-DVL) fusion method for underwater robot localization through integrating the velocity measurements from a DVL into a visual odometry (VO). Considering that employing the DVL measurements in dead-reckoning systems easily leads…
Manta-inspired robots have been increasingly applied in vision-based underwater tasks. However, owing to the refraction effect and motion coupling problem, their accurate target following control is still poorly understood. This letter proposes a vision-based underwater target following scheme for r
This letter presents a novel robotic end-effector for screwing and unscrewing bolts. In many industrial scenarios, it is required to manipulate bolts from the side using robots with end-effectors. Besides, the reaction torque during tightening needs to be balanced to the stability of the robot. To a
The integral flexible tail has the potential advantage of lifelike undulating motion. However, due to the complex manufacturing process and difficult modification of structural parameters, its application in robotic fish encounters many challenges. Combining rigid structure and flexible material, th
Many aquatic animals are able to leap out of water effortlessly, however, it is still exceedingly challenging for a swimming robot. Inspired by the fast-swimming mechanism of fish, in this letter, we develop an untethered high-speed swimming robot with the integration of high-frequency oscillation a
Underwater visual localization is an essential technique for the autonomous operation of underwater robots. However, the unique underwater image characteristics, including refraction, sparse features, and severe noise, pose an enormous challenge to it. For addressing these issues, this paper propose…
This paper proposes a multi-objective visionbased navigation network for biomimetic underwater robots to cope with scientific observation, target selection, and obstacle avoidance in marine missions. Structurally, a stereo block attention module is first constructed to serially extract the channel a…
Among visual relocalization from a single RGB image, the scene coordinate regression (SCoRe) based on convolutional neural network (CNN) becomes prevailing, however, it is insufficient to extract invariant features under different viewpoints due to fixed geometric structures of CNN. In this letter,
We develop two cooperative robots for power transmission lines (PTLs) inspection - a light climbing robot (CBR) which can stably move on the overhead ground wire (OGW) for sensor data collection and an unmanned aerial vehicle (UAV) with a grabbing mechanism, which can automatically put the CBR on th…
This paper proposes a unique and robust UAV autonomous navigation approach along one side of overhead transmission lines for inspection. To this end, we establish a perspective model and develop a novel Pan/Tilt monocular-based navigation scheme. Simultaneously, the following three key issues are ad…
Cell morphology plays an important role in maintaining normal cellular functions. Existing techniques for cell morphology measurement, such as confocal imaging and atomic force microscopy, have the limitations of photobleaching and incompatibility for integration with other cell manipulation instrum
Embryo vitrification is an essential cryopreservation technique in IVF (in vitro fertilization) clinics. Vitrification involves pick-and-place of an embryo in multiple types of cryoprotectant solutions for processing before placing the embryo on a vitrification straw for cryopreservation in liquid n