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IEEE Workshop on Applications of Computer Vision (WACV)

作者： Wendi Yang Zihang Jiang Shang Zhao S. Kevin Zhou Division of Life Sciences and Medicine School of Biomedical Engineering University of Science and Technology of China (USTC) Hefei Anhui China Center for Medical Imaging Robotics Analytic Computing & Learning (MIRACLE) Suzhou Institute for Advance Research USTC Suzhou Jiangsu China Key Laboratory of Precision and Intelligent Chemistry USTC Hefei Anhui China Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology CAS

ISBN: (数字)9798331510831

ISBN: (纸本)9798331510848

With the recent advancements in single-image-based 3D human pose and shape estimation (3DHPSE), there is a growing amount of works that can achieve good results on standard benchmarks but struggle to yield accurate hu-man mesh in extreme scenarios like occlusion. Previous works propose to leverage 2D poses to help 3D HPSE model improve performance under occlusion, but usually rely on manual design to integrate 2D poses and only aim for specific kinds of occlusion. In this paper, we present PostoMETRO (Pose token enhanced MEsh TRansfOrmer), which integrates 2D pose prior knowledge as tokens into transformers to improve model's performance under occlusion. Using a VQ- VAE-based pose tokenizer; we efficiently represent 2D poses as tokens andfeed them to transformers together with image tokens. Subsequently, these tokens are queried by vertex andJoint tokens to decode 3D coordinates of mesh vertices and human Joints. Our proposed 2D poses integration strategy is manual-design-free and suitable for various kinds of occlusion. Experiments on both standard and occlusion-specific benchmarks demonstrate the effectiveness of PostoMETRO. Code will be made available 1 1 https://***/PostoMETRO/PostoMETRO-Paper.

关键词： Solid modeling Computer vision Three-dimensional displays Shape Estimation Manuals Benchmark testing Transformers Robustness Standards

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Toward learning context-dependent tasks from demonstration for tendon-driven surgical robots

arXiv

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arXiv 2021年

作者： Huang, Yixuan Bentley, Michael Hermans, Tucker Kuntz, Alan The Robotics Center School of Computing University of Utah Salt Lake CityUT84112 United States NVIDIA

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help reduce surgeon strain in the face of a rapidly growing population. However, directly encoding surgical tasks and their associated context for these robots is infeasible. In this work we take steps toward a system that is able to learn to successfully perform context-dependent surgical tasks by learning directly from a set of expert demonstrations. We present three models trained on the demonstrations conditioned on a vector encoding the context of the demonstration. We then use these models to plan and execute motions for the tendon-driven robot similar to the demonstrations for novel context not seen in the training set. We demonstrate the efficacy of our method on three surgery-inspired tasks. Copyright © 2021, The Authors. All rights reserved.

关键词： Demonstrations

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Planning sensing sequences for subsurface 3D tumor mapping

arXiv

引用

arXiv 2021年

作者： Cho, Brian Y. Hermans, Tucker Kuntz, Alan Robotics Center and School of Computing University of Utah Salt Lake CityUT84112 United States NVIDIA

— Surgical automation has the potential to enable increased precision and reduce the per-patient workload of overburdened human surgeons. An effective automation system must be able to sense and map subsurface anatomy, such as tumors, efficiently and accurately. In this work, we present a method that plans a sequence of sensing actions to map the 3D geometry of subsurface tumors. We leverage a sequential Bayesian Hilbert map to create a 3D probabilistic occupancy model that represents the likelihood that any given point in the anatomy is occupied by a tumor, conditioned on sensor readings. We iteratively update the map, utilizing Bayesian optimization to determine sensing poses that explore unsensed regions of anatomy and exploit the knowledge gained by previous sensing actions. We demonstrate our method’s efficiency and accuracy in three anatomical scenarios including a liver tumor scenario generated from a real patient’s CT scan. The results show that our proposed method significantly outperforms comparison methods in terms of efficiency while detecting subsurface tumors with high accuracy. Copyright © 2021, The Authors. All rights reserved.

关键词： Tumors

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Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach

arXiv

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arXiv 2022年

作者： Chen, Yanbo Xu, Zhengzhe Jian, Zhuozhu Tang, Gengpan Yang, Liyunong Xiao, Anxing Wang, Xueqian Liang, Bin The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China The Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China The School of Computing National University of Singapore Singapore117417 Singapore

Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response behavior and comfort, treating the human as an appendage dragged by the robot, which can lead to imprecise guidance of the human and sudden changes in the traction force experienced by the human. In this paper, we propose a novel quadruped guidance robot system with a comfort-based concept. We design a controllable traction device that can adjust the length and force between human and robot to ensure comfort. To allow the human to be guided safely and comfortably to the target position in complex environments, our proposed human motion planner can plan the traction force with the force-based human motion model. To track the planned force, we also propose a robot motion planner that can generate the specific robot motion command and design the force control device. Our system has been deployed on Unitree Laikago quadrupedal platform and validated in real-world scenarios. (Video1). Copyright © 2022, The Authors. All rights reserved.

关键词： Robots

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Visually-Guided Sound Source Separation with Audio-Visual Predictive Coding

arXiv

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arXiv 2023年

作者： Song, Zengjie Zhang, Zhaoxiang The School of Mathematics and Statistics Xi’an Jiaotong University Xi’an710049 China The Center for Research on Intelligent Perception and Computing National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing100190 China The Center for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hong Kong

The framework of visually-guided sound source separation generally consists of three parts: visual feature extraction, multimodal feature fusion, and sound signal processing. An ongoing trend in this field has been to tailor involved visual feature extractor for informative visual guidance and separately devise module for feature fusion, while utilizing U-Net by default for sound analysis. However, such divide-and-conquer paradigm is parameter inefficient and, meanwhile, may obtain suboptimal performance as jointly optimizing and harmonizing various model components is challengeable. By contrast, this paper presents a novel approach, dubbed audio-visual predictive coding (AVPC), to tackle this task in a parameter efficient and more effective manner. The network of AVPC features a simple ResNet-based video analysis network for deriving semantic visual features, and a predictive coding-based sound separation network that can extract audio features, fuse multimodal information, and predict sound separation masks in the same architecture. By iteratively minimizing the prediction error between features, AVPC integrates audio and visual information recursively, leading to progressively improved performance. In addition, we develop a valid self-supervised learning strategy for AVPC via co-predicting two audio-visual representations of the same sound source. Extensive evaluations demonstrate that AVPC outperforms several baselines in separating musical instrument sounds, while reducing the model size significantly. Code is available at: https://***/zjsong/Audio-Visual-Predictive-Coding. Copyright © 2023, The Authors. All rights reserved.

关键词： Supervised learning

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EDA: Enhanced Domain-Adversarial Training for Anatomical Landmark Detection

EDA: Enhanced Domain-Adversarial Training for Anatomical Lan...

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IEEE International Symposium on Biomedical Imaging

作者： Fan Yang S. Kevin Zhou School of Biomedical Engineering Division of Life Sciences and Medicine University of Science and Technology of China Hefei Anhui China Center for Medical Imaging Robotics Analytic Computing & Learning (MIRACLE) Suzhou Institute for Advanced Research University of Science and Technology of China Suzhou Jiangsu China Key Laboratory of Precision and Intelligent Chemistry USTC Hefei Anhui China Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology CAS Beijing China

ISBN: (数字)9798331520526

ISBN: (纸本)9798331520533

Manually annotating anatomical landmarks in medical images requires experienced clinicians and is a labor-intensive process. However, recent AI-assisted methods for landmark detection often rely on the training and test data originating from the same domain. This work introduces a novel unsupervised domain adaptation (UDA) framework aimed at anatomical landmark detection from a medical image, designed to bridge the gap between a source domain with labels and an unlabeled target domain. Specifically, we have developed a new Domain-Adversarial Network that incorporates skip connections to transfer and fuse high-resolution feature maps. Additionally, we proposed Dynamic Gaussian Learning, which allows the model to escape from local error regions. We carry out experiments on landmark detection for both head and chest, and the results demonstrate that our method achieves state-of-the-art performances in each experiment.

关键词： Training Measurement Adaptation models Three-dimensional displays Smoothing methods Head Kernel Biomedical imaging

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Towards Accurate Unified Anomaly Segmentation

Towards Accurate Unified Anomaly Segmentation

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IEEE Workshop on Applications of Computer Vision (WACV)

作者： Wenxin Ma Qingsong Yao Xiang Zhang Zhelong Huang Zihang Jiang S. Kevin Zhou Division of Life Sciences and Medicine School of Biomedical Engineering University of Science and Technology of China (USTC) Hefei Anhui China Center for Medical Imaging Robotics Analytic Computing & Learning (MIRACLE) USTC Suzhou Institute for Advance Research Suzhou Jiangsu China Stanford University Palo Alto California United State School of Medicine Shanghai University Shanghai China Key Laboratory of Precision and Intelligent Chemistry USTC Hefei Anhui China Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology CAS

ISBN: (数字)9798331510831

ISBN: (纸本)9798331510848

Unsupervised anomaly detection (UAD) from images strives to model normal data distributions, creating discriminative representations to distinguish and precisely localize anomalies. Despite recent advancements in the efficient and unified one-for-all scheme, challenges persist in accurately segmenting anomalies for further monitoring. Moreover, this problem is obscured by the widely-used AUROC metric under imbalanced UAD settings. This motivates us to emphasize the significance of precise segmentation of anomaly pixels using pAP and DSC as metrics. To address the unsolved segmentation task, we introduce the Unified Anomaly Segmentation (UniAS). UniAS presents a multi-level hybrid pipeline that progressively enhances normal information from coarse to fine, incorporating a novel multi-granularity gated CNN (MGG-CNN) into Transformer layers to explicitly aggregate local details from different granularities. UniAS achieves state-of-the-art anomaly segmentation performance, attaining 65.12/59.33 and 40.06/32.50 in pAP/DSC on the MVTec-AD and VisA datasets, respectively, surpassing previous methods significantly. The codes are shared at https://***/Mwxinnn/UniAS.

关键词： Measurement Image segmentation Computer vision Codes Pipelines Logic gates Transformers Data models Monitoring Anomaly detection

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“I'm a little less inclined to do it”: How Afterschool Programs’ Culture Impact Co-Design Processes and Outcomes 23

“I'm a little less inclined to do it”: How Afterschool Pro...

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Proceedings of the 2023 ACM Designing Interactive Systems Conference

作者： Judith Odili Uchidiuno Jaemarie Solyst Erik Harpstead Ross Higashi School of Interactive Computing Georgia Institute of Technology United States and Human Computer Interaction Institute Carnegie Mellon University United States Human-Computer Interaction Institute Carnegie Mellon University United States National Robotics Engineering Center Carnegie Mellon University United States

ISBN: (纸本)9781450398930

The importance of considering local context and partnering with target users is well established in co-design. Less common is an examination of the adaptations needed when deploying the same co-design program across heterogenous settings to maximize program efficacy and equity. We report on our experience co-designing educational games with six culturally and socioeconomically diverse afterschool sites over two years, and insights from interviewing ten program administrators across all sites. We found that even within the same afterschool program network, site differences in organizational culture and resources impacted the effectiveness of co-design programs, the co-design output, and expectations for student engagement. We characterize our afterschool partners into different archetypes – Safe Havens, Recreation centers, Homework Helpers, and STEM Enrichment centers. We provide recommendations for conducting co-design at each archetype and reflect on strategies for increasing equitable partnerships between researchers and afterschool centers.

关键词： Participatory Design Cooperative Inquiry Organizational Culture Afterschool Programs Informal Learning Codesign Children Design Methods

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

引用

arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Pyramid Learnable Tokens for 3D LiDAR Place Recognition

Pyramid Learnable Tokens for 3D LiDAR Place Recognition

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IEEE International Conference on robotics and Automation (ICRA)

作者： Congcong Wen Hao Huang Yu-Shen Liu Yi Fang NYUAD Center for Artificial Intelligence and Robotics New York University Abu Dhabi UAE NYU Multimedia and Visual Computing Lab New York University USA New York University Abu Dhabi UAE School of Software Tsinghua University Beijing P. R. China

3D LiDAR place recognition plays a vital role in various robot applications' including robotic navigation, autonomous driving, and simultaneous localization and mapping. However, most previous studies evaluated their models on accumulated 2D scans instead of real-world 3D LiDAR scans with a larger number of points, which limits the application in real scenarios. To address this limitation, we propose a point transformer network with pyramid learnable tokens (PTNet-PLT) to learn global descriptors for an actual scanned 3D LiDAR place recognition. Specifically, we first present a novel shifted cube attention module that consists of a self-attention module for local feature extraction and a cross-attention module for regional feature aggregation. The self-attention module constrains attention computation on a locally partitioned cube and builds connections across cubes based on the shifted cube scheme. In addition, the cross-attention module introduces several learnable tokens to separately aggregate features of points with similar features but spatially distant into an arbitrarily shaped region, which enables the model to capture long-term dependencies of the points. Next, we build a pyramid architecture network to learn multi-scale features and involve a decreasing number of tokens at each layer to aggregate features over a larger region. Finally, we obtain the global descriptor by concatenating learned region tokens of all layers. Experiments on three datasets, including USyd Campus, Oxford Robot-Car, and KITTI, demonstrate the effectiveness and generalization of the proposed model for large-scale 3D LiDAR place recognition.

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