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09/20/2023
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery
Accurate deformable object manipulation (DOM) is essential for achieving...
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09/20/2023
Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints
Cloth manipulation is a category of deformable object manipulation of gr...
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06/07/2023
BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives
Implicit neural representation has emerged as a powerful method for reco...
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06/01/2023
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers
Motion planning is integral to robotics applications such as autonomous ...
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05/24/2023
ORRN: An ODE-based Recursive Registration Network for Deformable Respiratory Motion Estimation with Lung 4DCT Images
Deformable Image Registration (DIR) plays a significant role in quantify...
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09/27/2022
Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection
Automating the process of manipulating and delivering sutures during rob...
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01/12/2022
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Real-time robot motion planning in complex high-dimensional environments...
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02/15/2021
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization
The objective of trajectory optimization algorithms is to achieve an opt...
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10/15/2020
Robust Keypoint Detection and Pose Estimation of Robot Manipulators with Self-Occlusions via Sim-to-Real Transfer
Keypoint detection is an essential building block for many robotic appli...
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09/15/2020
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping
This paper focuses on online occupancy mapping and real-time collision c...
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02/05/2020
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
This paper focuses on real-time occupancy mapping and collision checking...
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09/01/2019
Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation
We present an orientation adaptive controller to compensate for the effe...
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02/21/2019