11 accepted papers
Utilizing neural networks to predict potential regions containing optimal paths in advance and subsequently biasing the sampling probability towards these promising regions has been proven to effectively enhance the path planning efficiency of sampling-based algorithms. %In complex scenarios, unifor…
Motion generation in dynamic environments is crucial for human-machine interaction with redundant manipulators. In this context, we propose the Enhancing Safety and Manipulability (ESM) scheme, which integrates geometry-based dynamic obstacle avoidance, manipulability optimization,trajectory trackin…
Automatic radiology report generation (RRG) aims to simulate the workflow of radiologists, assisting them in clinical diagnosis. However, existing methods often fall short in utilizing all information relevant to the examination, as is typically done in clinical practice. Although some works attempt
Dexterous grasping is a crucial technique in humanoid robot manipulation. However, existing methods still fall short in effectively detecting dexterous grasps in cluttered environments. In this work, we propose DexMGNet, a novel multi-mode dexterous grasping framework designed for such challenging s
Motion generation in dynamic environments is crucial for human-machine interaction with redundant manipulators. In this context, we propose the Enhancing Safety and Manipulability (ESM) scheme, which integrates geometry-based dynamic obstacle avoidance, manipulability optimization, trajectory tracki
As the important pathological section staining, Immunohistochemistry (IHC) staining uses labeled antibodies to highlight specific antigens, providing clearer results for malignancy identification compared with Hematoxylin and Eosin (H&E) staining. However, obtaining IHC manually is labor-intensive a…
We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www
The untethered microrobots driven by multiple external physics fields have promising ability in minimally invasive disease treatments. One common type of the driving fields is gradient magnetic field, which can provide microrobots with adequate driving force in complicated environment. In this study…
Magnetic-controlled micro-robots have promising applications in disease therapy due to their high targetability and drug utilization. Due to their unique deformable and divisible properties, ferrofluid robots have gained much attention in microchemical reaction chips and micromanipulation. This lett
Micro-nano robots with low invasiveness and high drug utilization are considered a promising approach for tumor therapy. However, individual micro-nano robots are limited in terms of motility, drug-carrying capacity, and environmental adaptability. This study proposes a clustering control strategy f
Stiffness variation is useful in soft robots, especially for continuum manipulators which have a high slenderness ratio. Softness intrinsically gives robots high flexibility of movement, but stiffness gives the robots enough carrying capacity. Many types of continuum manipulators can change their st