Research
Research
Research
Research
39,379+ open-access research outputs.
We propose glaucoma lesion evaluation and analysis with multimodal imaging (GLEAM), the first publicly available tri-modal glaucoma dataset comprising scanning laser ophthalmoscopy fundus images, circ…
Interactive Imitation Learning (IIL) typically relies on extensive human involvement for both offline demonstration and online interaction. Prior work primarily focuses on reducing human effort in pas…
Regular monitoring of glycemic status is essential for diabetes management, yet conventional blood-based testing can be burdensome for frequent assessment. The sclera contains superficial microvascula…
Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors on humanoid robots …
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framewo…
Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based plan…
In this work, we propose a data-driven framework to design optimal haptic nudge feedback leveraging the learner's estimated skill to address the challenge of learning a novel motor task in a high-dime…
Although diffusion models have achieved remarkable progress in multi-modal magnetic resonance imaging (MRI) translation tasks, existing methods still tend to suffer from anatomical inconsistencies or …
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired peop…
Low-dose CT (LDCT) reduces radiation exposure but introduces protocol-dependent noise and artifacts that vary across institutions. While federated learning enables collaborative training without centr…
Convolutional Neural Networks have shown promising effectiveness in identifying different types of cancer from radiographs. However, the opaque nature of CNNs makes it difficult to fully understand th…
With the growing interest in motion imitation learning (IL) for human biomechanics and wearable robotics, this study investigates how additional foot-ground interaction measures, used as reward terms,…
Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distrib…
We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-tr…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often…
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data remains a primary b…
Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant executi…
This paper addresses the design of an event-triggered, data-based, and performance-oriented adaption method for model predictive control (MPC). The performance of such a strategy strongly depends on t…
The da Vinci Research Kit (dVRK) is widely used for research in robot-assisted surgery, but most modeling and control methods target the first-generation dVRK Classic. The recently introduced dVRK-Si,…
Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. Howe…
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