Publications (10)
SAW: Toward a Surgical Action World Model via Controllable and Scalable Video Generation
Sampath Rapuri, Lalithkumar Seenivasan, Dominik Schneider +9
A surgical world model capable of generating realistic surgical action videos with precise control over tool-tissue interactions can address fundamental challenges in surgical AI a…
Towards Robust Algorithms for Surgical Phase Recognition via Digital Twin Representation
Hao Ding, Yuqian Zhang, Wenzheng Cheng +7
Surgical phase recognition (SPR) is an integral component of surgical data science, enabling high-level surgical analysis. End-to-end trained neural networks that predict surgical…
OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction
Shaqi Luo, Yuanyuan Li, Youhao Hu +7
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limit…
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang +5
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objec…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Implementing BERT and fine-tuned RobertA to detect AI generated news by ChatGPT
Zecong Wang, Jiaxi Cheng, Chen Cui +1
The abundance of information on social media has increased the necessity of accurate real-time rumour detection. Manual techniques of identifying and verifying fake news generated…
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
AffordTissue: Dense Affordance Prediction for Tool-Action Specific Tissue Interaction
Aiza Maksutova, Lalithkumar Seenivasan, Hao Ding +5
Surgical action automation has progressed rapidly toward achieving surgeon-like dexterous control, driven primarily by advances in learning from demonstration and vision-language-a…
Convergence Analysis of Stochastic Accelerated Gradient Methods for Generalized Smooth Optimizations
Chenhao Yu, Yusu Hong, Junhong Lin
We investigate the Randomized Stochastic Accelerated Gradient (RSAG) method, utilizing either constant or adaptive step sizes, for stochastic optimization problems with generalized…
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…