6 papers
ROBUST-MIPS: A Combined Skeletal Pose and Instance Segmentation Dataset for Laparoscopic Surgical Instruments
Zhe Han, Charlie Budd, Gongyu Zhang +3
Localisation of surgical tools constitutes a foundational building block for computer-assisted interventional technologies. Works in this field typically focus on training deep lea…
HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms
Bingjie Chen, Zihan Wang, Zhe Han +3
Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like.…
Learning From a Steady Hand: A Weakly Supervised Agent for Robot Assistance under Microscopy
Huanyu Tian, Martin Huber, Lingyun Zeng +7
This paper rethinks steady-hand robotic manipulation by using a weakly supervised framework that fuses calibration-aware perception with admittance control. Unlike conventional aut…
Dual Teacher-Student Learning for Semi-supervised Medical Image Segmentation
Pengchen Zhang, Alan J. X. Guo, Sipin Luo +2
Semi-supervised learning reduces the costly manual annotation burden in medical image segmentation. A popular approach is the mean teacher (MT) strategy, which applies consistency…
Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation
Weize Li, Zhengxiao Han, Lixin Xu +4
This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks un…
Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approach
Tianshu Wu, Jiyao Zhang, Shiqian Liang +2
Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, l…