1 citations · 1 across the 5 of their papers we have counts for
7 papers
Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference
Yameng Zhang, Pei Liu, Dianye Huang +5
Ultrasound visual servoing is essential for autonomous robotic ultrasound, yet 6-DoF probe control from 2D B-mode images remains challenging due to limited and ambiguous out-of-pla…
RealSimLoop: Online Real-to-Sim Adaptation via Differentiable Reduced-Order Simulation with Vision Feedback
Zhihao Cen, Chuhua Xian, Hailin Sun +6
Real-world observations of deformable objects are often sparse or surface-level, while downstream tasks require hidden physical quantities such as internal deformation, stress fiel…
Seeing Globally, Refining Locally: Global Visual Guidance and Local Ultrasound Cues for Robust Freehand 3-D Ultrasound Reconstruction
Yameng Zhang, Zhongyu Chen, Dianye Huang +3
Freehand 3-D ultrasound (US) imaging has attracted increasing attention owing to its intuitive volumetric visualization, ease of use, and low cost. However, accurate 3-D reconstruc…
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
Zhen Zhang, Weinan Wang, Hejia Sun +4
Current dexterous manipulation systems commonly rely on external or wrist-mounted cameras for visual feedback. However, such sensing setups are prone to occlusion and can limit per…
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…
Hierarchical Deformation Planning and Neural Tracking for DLOs in Constrained Environments
Yunxi Tang, Tianqi Yang, Jing Huang +2
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populate…
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
Zhongyu Chen, Chenyang Li, Xuesong Li +5
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like art…