10 papers
ExtraGS: Enhancing Endoscopic View Extrapolation via Diffusion-Guided 3D Gaussian Splatting
Cheng-Tai Hsieh, Jiwei Shan, Han Fang +6
Robot-assisted minimally invasive surgery (MIS) critically depends on reliable endoscopic perception for navigation and safety. However, conventional endoscopes provide only a limi…
Wearing A Coat: Dual-Arm Robot-Assisted Dressing with Differentiable Clothing Simulation
Yiming Liu, Lijun Han, Hesheng Wang
The development of assistive robots for dressing tasks serves to augment human convenience and improve the quality of life for individuals with physical impairments. However, due t…
4D Monocular Surgical Reconstruction under Arbitrary Camera Motions
Jiwei Shan, Zeyu Cai, Cheng-Tai Hsieh +5
Reconstructing deformable surgical scenes from endoscopic videos is challenging and clinically important. Recent state-of-the-art methods based on implicit neural representations o…
NRGS-SLAM: Monocular Non-Rigid SLAM for Endoscopy via Deformation-Aware 3D Gaussian Splatting
Jiwei Shan, Zeyu Cai, Yirui Li +5
Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumpti…
A Shared Control Framework for Mobile Robots with Planning-Level Intention Prediction
Jinyu Zhang, Lijun Han, Feng Jian +2
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control fram…
FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling
Yue Wen, Liang Song, Yijia Liu +4
Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have rec…
Learning a General Model: Folding Clothing with Topological Dynamics
Yiming Liu, Lijun Han, Enlin Gu +1
The high degrees of freedom and complex structure of garments present significant challenges for clothing manipulation. In this paper, we propose a general topological dynamics mod…
Deformable Gaussian Splatting for Efficient and High-Fidelity Reconstruction of Surgical Scenes
Jiwei Shan, Zeyu Cai, Cheng-Tai Hsieh +2
Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current metho…
Efficient Robot Skill Learning with Imitation from a Single Video for Contact-Rich Fabric Manipulation
Shengzeng Huo, Anqing Duan, Lijun Han +3
Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platform…
Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation
Wanyu Ma, Bin Zhang, Lijun Han +3
In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we devel…