25 citations · 35 across the 11 of their papers we have counts for
7 papers · 1 filter
Two-Stage Grasping: A New Bin Picking Framework for Small Objects
Hanwen Cao, Jianshu Zhou, Junda Huang +5
This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are condu…
Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning
Yiang Lu, Ruofeng Wei, Bin Li +5
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling unc…
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot
Tao Huang, Kai Chen, Bin Li +2
Task automation of surgical robot has the potentials to improve surgical efficiency. Recent reinforcement learning (RL) based approaches provide scalable solutions to surgical auto…
Human-in-the-loop Embodied Intelligence with Interactive Simulation Environment for Surgical Robot Learning
Yonghao Long, Wang Wei, Tao Huang +2
Surgical robot automation has attracted increasing research interest over the past decade, expecting its potential to benefit surgeons, nurses and patients. Recently, the learning…
Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction
Ruofeng Wei, Bin Li, Hangjie Mo +5
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matc…
StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCS
Kai Chen, Stephen James, Congying Sui +3
Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture m…
FBG-Based Online Learning and 3-D Shape Control of Unmodeled Continuum and Soft Robots in Unstructured Environments
Yiang Lu, Wei Chen, Bo Lu +4
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Develo…