7 papers
Act4R: Action-conditioned 4D reconstruction for kinematics-free control
Zhaoliang Zhang, Chenhao Yu, Zhimin Shao +2
Precise control of movement across various robotic embodiments is a longstanding challenge. Modeling complex robotic structures requires significant time, dedicated sensors, and ma…
Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots
Chang Liu, Chenhao Yu, Honghao Zhao +5
Current robot-assisted minimally-invasive surgery (RMIS) platforms provide a fixed console for the surgeon to view stereo endoscopic images and teleoperate instruments inside the p…
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang +5
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objec…
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
AffordTissue: Dense Affordance Prediction for Tool-Action Specific Tissue Interaction
Aiza Maksutova, Lalithkumar Seenivasan, Hao Ding +5
Surgical action automation has progressed rapidly toward achieving surgeon-like dexterous control, driven primarily by advances in learning from demonstration and vision-language-a…
SAW: Toward a Surgical Action World Model via Controllable and Scalable Video Generation
Sampath Rapuri, Lalithkumar Seenivasan, Dominik Schneider +9
A surgical world model capable of generating realistic surgical action videos with precise control over tool-tissue interactions can address fundamental challenges in surgical AI a…