3 papers
cs.RO2026
Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments
Ruofeng Wei, Kai Chen, Yui Lun Ng +7
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robot…
cs.RO2025
Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation
Yiyao Ma, Kai Chen, Kexin Zheng +1
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stabl…
cs.CV2024
Enhanced Scale-aware Depth Estimation for Monocular Endoscopic Scenes with Geometric Modeling
Ruofeng Wei, Bin Li, Kai Chen +3
Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the ge…