110 citations · 188 across the 19 of their papers we have counts for
19 papers
The Hirota Identity for Hyperpfaffian -Functions in Charge- Ensembles
Christopher D. Sinclair
We study log-gas ensembles with inverse temperature using a confluent Vandermonde representation that admits a formulation in the exterior algebra of a finite-dimensional…
SurgiSR4K: A High-Resolution Endoscopic Video Dataset for Robotic-Assisted Minimally Invasive Procedures
Fengyi Jiang, Xiaorui Zhang, Lingbo Jin +11
High-resolution imaging is crucial for enhancing visual clarity and enabling precise computer-assisted guidance in minimally invasive surgery (MIS). Despite the increasing adoption…
CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera
Jingpei Lu, Zekai Liang, Tristin Xie +4
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have elimin…
HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management
Albert J. Miao, Shan Lin, Jingpei Lu +5
Hemorrhaging occurs in surgeries of all types, forcing surgeons to quickly adapt to the visual interference that results from blood rapidly filling the surgical field. Introducing…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…
Tracking Snake-like Robots in the Wild Using Only a Single Camera
Jingpei Lu, Florian Richter, Shan Lin +1
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes…
BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields
Shreya Saha, Zekai Liang, Shan Lin +3
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It…
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
Shan Lin, Albert J. Miao, Ali Alabiad +5
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mit…
BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives
Sainan Liu, Shan Lin, Jingpei Lu +2
Implicit neural representations have become pivotal in robotic perception, enabling robots to comprehend 3D environments from 2D images. Given a set of camera poses and associated…
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
Jingpei Lu, Florian Richter, Michael C. Yip
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditiona…
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
Jingpei Lu, Fei Liu, Cedric Girerd +1
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that…
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking
Shan Lin, Albert J. Miao, Jingpei Lu +4
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in…
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics
Fei Liu, Entong Su, Jingpei Lu +2
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is diff…
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics
Fei Liu, Mingen Li, Jingpei Lu +2
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-pred…
Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach
Florian Richter, Jingpei Lu, Ryan K. Orosco +1
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capt…
Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy
Fei Liu, Zihan Li, Yunhai Han +3
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-bas…
Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer
Jingpei Lu, Florian Richter, Michael Yip
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely enginee…
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction
Jingpei Lu, Ambareesh Jayakumari, Florian Richter +2
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant eff…
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics
Yang Li, Florian Richter, Jingpei Lu +4
Traditional control and task automation have been successfully demonstrated in a variety of structured, controlled environments through the use of highly specialized modeled roboti…