4 papers
Masked Registration and Autoencoding of CT Images for Predictive Tibia Reconstruction
Hongyou Zhou, Cederic Aßmann, Alaa Bejaoui +8
Surgical planning for complex tibial fractures can be challenging for surgeons, as the 3D structure of the later desirable bone alignment may be difficult to imagine. To assist in…
SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton
Shiping Ma, Haoming Zhang, Marc Toussaint
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed spec…
Meta-Optimization and Program Search using Language Models for Task and Motion Planning
Denis Shcherba, Eckart Cobo-Briesewitz, Cornelius V. Braun +1
Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this b…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…