26 accepted papers
A cable-driven continuum robot with high redundancy is capable of performing the tip trajectory tracking task while simultaneously satisfying additional safety constraints, such as joint limits or external obstacles in the environment. To address these challenges, efficient motion planning methods a…
3D Gaussian Splatting (3DGS) represents scenes through primitives with coupled intrinsic properties: geometric attributes (position, covariance, opacity) and appearance attributes (view-dependent color). Faithful reconstruction requires intrinsic geometry-appearance consistency, where geometry accur
Continuum robots possess intrinsic compliance, high flexibility, and continuously deformable structures, making them well-suited for safe human–robot interaction (HRI). However, their continuous backbone and high degrees of freedom pose significant challenges for real-time trajectory generation: mot…
Accurately modeling the relationship between perturbations, transcriptional responses, and phenotypic changes is essential for building an AI Virtual Cell (AIVC). However, existing methods typically constrained to modeling direct associations, such as *Perturbation -> RNA* or *Perturbation -> Morpho
The success of 3D Gaussian Splatting (3DGS) in static scenes has inspired numerous attempts to construct Free-Viewpoint Videos (FVVs) of dynamic scenes from multi-view videos. Despite advancements in current techniques, simultaneously achieving photo-realistic view synthesis results, fast on-the-fly…
Building Free-Viewpoint Videos in a streaming manner offers the advantage of rapid responsiveness compared to offline training methods, greatly enhancing user experience. However, current streaming approaches face challenges of high per-frame reconstruction time (10s+) and error accumulation, limiti…
Maintaining comprehensive and up-to-date knowledge graphs (KGs) is critical for modern AI systems, but manual curation struggles to scale with the rapid growth of scientific literature. This paper presents KARMA, a novel framework employing multi-agent large language models (LLMs) to automate KG enr…
Gene regulatory network (GRN) inference serves as a cornerstone for deciphering cellular decision-making processes. Early approaches rely exclusively on gene expression data, thus their predictive power remain fundamentally constrained by the vast combinatorial space of potential gene-gene interacti…
Due to the complex and highly dynamic motions in the real world, synthesizing dynamic videos from multi-view inputs for arbitrary viewpoints is challenging. Previous works based on neural radiance field or 3D Gaussian splatting are limited to modeling fine-scale motion, greatly restricting their app…
In this paper, we employ multiple IMUs into a triple-section continuum manipulator to precisely capture the attitude data of each section’s end disk. Leveraging the sensory and mechanical hardware system, we construct a sophisticated coordinate transformation scheme to accurately identify the detail
Novel view synthesis has long been a practical but challenging task, although the introduction of numerous methods to solve this problem, even combining advanced representations like 3D Gaussian Splatting, they still struggle to recover high-quality results and often consume too much storage memory…
In this letter, a tendon-driven continuum robotic manipulator with three individual continuum sections is developed and manufactured. The main contribution is that we propose a robust and accurate shape estimation method based on the fusion of multi-IMUs for the manipulator, under the PCC (Piecewise
"The utilization of the triplane-based radiance fields has gained attention in recent years due to its ability to effectively disentangle 3D scenes with a high-quality representation and low computation cost. A key requirement of this method is the precise input of camera poses. However, due to the…
Learning neural radiance fields (NeRF) without camera poses has been widely studied. However, recent methods lack explicit and effective supervision for pose estimation, resulting in ambiguous optimization of camera pose and NeRF geometry during joint training, particularly in scenarios involving la…
"Recently, the Neural Radiance Field (NeRF) advancement has facilitated few-shot Novel View Synthesis (NVS), which is a significant challenge in 3D vision applications. Despite numerous attempts to reduce the dense input requirement in NeRF, it still suffers from time-consumed training and rendering…
Despite the substantial progress of novel view synthesis, existing methods, either based on the Neural Radiance Fields (NeRF) or more recently 3D Gaussian Splatting (3DGS), suffer significant degradation when the input becomes sparse. Numerous efforts have been introduced to alleviate this problem,…
"Reconstructing the high-fidelity surface from multi-view images, especially sparse images, is a critical and practical task that has attracted widespread attention in recent years. However, existing methods are impeded by the memory constraint or the requirement of ground-truth depths and cannot re…
Unsupervised Multi-View Stereo (MVS) methods have achieved promising progress recently. However, previous methods primarily depend on the photometric consistency assumption, which may suffer from two limitations: indistinguishable regions and view-dependent effects, e.g., low-textured areas and refl…
Paraphrase Identification (PI), a task of determining whether a pair of sentences express the same meaning, is widely applied in Information Retrieval and Question Answering. Data Augmentation (DA) is proven effective in tackling the PI task. However, the majority of DA methods still suffer from two…
Combining the signed distance function (SDF) and differentiable volume rendering has emerged as a powerful paradigm for surface reconstruction from multi-view images without 3D supervision. However, current methods are impeded by requiring long-time per-scene optimizations and cannot generalize to n…
Recent cascade Multi-View Stereo (MVS) methods can efficiently estimate high-resolution depth maps through narrowing hypothesis ranges. However, previous methods ignored the vital geometric information embedded in coarse stages, leading to vulnerable cost matching and sub-optimal reconstruction resu…
This letter addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the gap's pose and size. In contrast, we integrate onboard sensi
Depth estimation is solved as a regression or classification problem in existing learning-based multi-view stereo methods. Although these two representations have recently demonstrated their excellent performance, they still have apparent shortcomings, e.g., regression methods tend to overfit due to…
For conventional aerial manipulators, the robotic arm is rigidly attached to the quadrotor. Consequently, the maneuver of the quadrotor will affect the motion of the robotic arm when it is used for tasks such as inspection. In this paper, we propose a novel aerial manipulator with a self-locking gim…
Self-supervised methods play an increasingly important role in monocular depth estimation due to their great potential and low annotation cost. To close the gap with supervised methods, recent works take advantage of extra constraints, e.g., semantic segmentation. However, these methods will inevita…
This letter presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point algorithm. Then, a bilateral filter is extended to denoise