4 papers
Towards Fine-Grained Object Manipulation: SAM3-Guided Visuomotor Policy with Persistent Memory Learning and Focused Visual Conditioning
Haolong Meng, Fangbo Qin, Mengchen Bai +3
Fine-grained object (FO) manipulation requires robots to distinguish a specified FO from visually similar objects and execute actions reliably despite scene distractors. However, s…
MicroHookACT: Monocular Microscopic Vision Guided Visuomotor Policy for Flexible Microelectrode Hooking
Yitong Chen, Fangbo Qin, Yang Wang +3
Automated needle-loop hooking is a critical step in flexible microelectrode (FME) implantation. This paper presents MicroHookACT, an imitation learning-based visuomotor policy for…
Visual Anomaly Detection for Reliable Robotic Implantation of Flexible Microelectrode Array
Yitong Chen, Xinyao Xu, Ping Zhu +3
Flexible microelectrode (FME) implantation into brain cortex is challenging due to the deformable fiber-like structure of FME probe and the interaction with critical bio-tissue. To…
AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT
Fangbo Qin, Taogang Hou, Shan Lin +3
Towards flexible object-centric visual perception, we propose a one-shot instance-aware object keypoint (OKP) extraction approach, AnyOKP, which leverages the powerful representati…