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  1. AU="Yuan, Jiacheng"
  2. AU="Kahama, C B"
  3. AU="D’Alessio, Roberto"
  4. AU="Reuhl, Kenneth"
  5. AU="Seeleman, Conny"
  6. AU="Delaquis, Pascal"
  7. AU="Bommineni, Gopal R"
  8. AU="Kuhn, Cynthia M."
  9. AU="Olson, Jason C"
  10. AU="Buchholz, V."
  11. AU="Urquhart, Bradley L"
  12. AU="Ezaki, Kazune"
  13. AU="Choi, Jong Hyun"
  14. AU="Xie, Qiaowei"
  15. AU=Rojas-Marte G AU=Rojas-Marte G
  16. AU="Belli, A"
  17. AU="Moolman, M Charl"
  18. AU="Mazzoni, Stefania"
  19. AU=Stryjewski Martin E
  20. AU=Vallon Volker AU=Vallon Volker
  21. AU="Knowland, K E"
  22. AU="Beker, M. G."

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  1. Buch ; Online: VFAS-Grasp

    Piacenza, Pedro / Yuan, Jiacheng / Huh, Jinwook / Isler, Volkan

    Closed Loop Grasping with Visual Feedback and Adaptive Sampling

    2023  

    Abstract: We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a set of ... ...

    Abstract We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a set of candidate grasps by generating random perturbations of a seed grasp. The candidates are then scored using a novel metric which combines a learned grasp-quality estimator, the uncertainty in the estimate and the distance from the seed proposal to promote temporal consistency. Additionally, we present two mechanisms to improve the efficiency of our sampling strategy: We dynamically scale the sampling region size and number of samples in it based on past grasp scores. We also leverage a motion vector field estimator to shift the center of our sampling region. We demonstrate that our algorithm can run in real time (20 Hz) and is capable of improving grasp performance for static scenes by refining the initial grasp proposal. We also show that it can enable grasping of slow moving objects, such as those encountered during human to robot handover.
    Schlagwörter Computer Science - Robotics
    Thema/Rubrik (Code) 629
    Erscheinungsdatum 2023-10-27
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    Dokumenttyp Buch ; Online
    Datenquelle BASE - Bielefeld Academic Search Engine (Lebenswissenschaftliche Auswahl)

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  2. Buch ; Online: Active Mass Distribution Estimation from Tactile Feedback

    Yuan, Jiacheng / Choi, Changhyun / Tadmor, Ellad B. / Isler, Volkan

    2023  

    Abstract: In this work, we present a method to estimate the mass distribution of a rigid object through robotic interactions and tactile feedback. This is a challenging problem because of the complexity of physical dynamics modeling and the action dependencies ... ...

    Abstract In this work, we present a method to estimate the mass distribution of a rigid object through robotic interactions and tactile feedback. This is a challenging problem because of the complexity of physical dynamics modeling and the action dependencies across the model parameters. We propose a sequential estimation strategy combined with a set of robot action selection rules based on the analytical formulation of a discrete-time dynamics model. To evaluate the performance of our approach, we also manufactured re-configurable block objects that allow us to modify the object mass distribution while having access to the ground truth values. We compare our approach against multiple baselines and show that our approach can estimate the mass distribution with around 10% error, while the baselines have errors ranging from 18% to 68%.
    Schlagwörter Computer Science - Robotics
    Erscheinungsdatum 2023-03-02
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    Dokumenttyp Buch ; Online
    Datenquelle BASE - Bielefeld Academic Search Engine (Lebenswissenschaftliche Auswahl)

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  3. Artikel ; Online: Robust vessel segmentation in laser speckle contrast images based on semi-weakly supervised learning.

    Yang, Kun / Chang, Shilong / Yuan, Jiacheng / Fu, Suzhong / Qin, Geng / Liu, Shuang / Liu, Kun / Zhao, Qingliang / Xue, Linyan

    Physics in medicine and biology

    2023  Band 68, Heft 14

    Abstract: Objective. ...

    Abstract Objective.
    Mesh-Begriff(e) Image Processing, Computer-Assisted/methods ; Supervised Machine Learning ; Signal-To-Noise Ratio
    Sprache Englisch
    Erscheinungsdatum 2023-07-07
    Erscheinungsland England
    Dokumenttyp Journal Article
    ZDB-ID 208857-5
    ISSN 1361-6560 ; 0031-9155
    ISSN (online) 1361-6560
    ISSN 0031-9155
    DOI 10.1088/1361-6560/acdf37
    Datenquelle MEDical Literature Analysis and Retrieval System OnLINE

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    Verfügbar in ZB MED Köln/Königswinter

    Zs.A 199: Hefte anzeigen Standort:
    Je nach Verfügbarkeit (siehe Angabe bei Bestand)
    bis Jg. 1994: Bestellungen von Artikeln über das Online-Bestellformular
    Jg. 1995 - 2021: Lesesall (1.OG)
    ab Jg. 2022: Lesesaal (EG)

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  4. Buch ; Online: ROW-SLAM

    Yuan, Jiacheng / Hong, Jungseok / Sattar, Junaed / Isler, Volkan

    Under-Canopy Cornfield Semantic SLAM

    2021  

    Abstract: We study a semantic SLAM problem faced by a robot tasked with autonomous weeding under the corn canopy. The goal is to detect corn stalks and localize them in a global coordinate frame. This is a challenging setup for existing algorithms because there is ...

    Abstract We study a semantic SLAM problem faced by a robot tasked with autonomous weeding under the corn canopy. The goal is to detect corn stalks and localize them in a global coordinate frame. This is a challenging setup for existing algorithms because there is very little space between the camera and the plants, and the camera motion is primarily restricted to be along the row. To overcome these challenges, we present a multi-camera system where a side camera (facing the plants) is used for detection whereas front and back cameras are used for motion estimation. Next, we show how semantic features in the environment (corn stalks, ground, and crop planes) can be used to develop a robust semantic SLAM solution and present results from field trials performed throughout the growing season across various cornfields.

    Comment: 7 pages, 6 figures
    Schlagwörter Computer Science - Robotics
    Erscheinungsdatum 2021-09-15
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    Dokumenttyp Buch ; Online
    Datenquelle BASE - Bielefeld Academic Search Engine (Lebenswissenschaftliche Auswahl)

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  5. Buch ; Online: HandNeRF

    Choi, Hongsuk / Chavan-Dafle, Nikhil / Yuan, Jiacheng / Isler, Volkan / Park, Hyunsoo

    Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Image

    2023  

    Abstract: This paper presents a method to learn hand-object interaction prior for reconstructing a 3D hand-object scene from a single RGB image. The inference as well as training-data generation for 3D hand-object scene reconstruction is challenging due to the ... ...

    Abstract This paper presents a method to learn hand-object interaction prior for reconstructing a 3D hand-object scene from a single RGB image. The inference as well as training-data generation for 3D hand-object scene reconstruction is challenging due to the depth ambiguity of a single image and occlusions by the hand and object. We turn this challenge into an opportunity by utilizing the hand shape to constrain the possible relative configuration of the hand and object geometry. We design a generalizable implicit function, HandNeRF, that explicitly encodes the correlation of the 3D hand shape features and 2D object features to predict the hand and object scene geometry. With experiments on real-world datasets, we show that HandNeRF is able to reconstruct hand-object scenes of novel grasp configurations more accurately than comparable methods. Moreover, we demonstrate that object reconstruction from HandNeRF ensures more accurate execution of downstream tasks, such as grasping and motion planning for robotic hand-over and manipulation. The code will be release here: https://github.com/SamsungLabs/HandNeRF

    Comment: 12 pages including the supplementary material, 8 tables, 12 figures
    Schlagwörter Computer Science - Computer Vision and Pattern Recognition
    Thema/Rubrik (Code) 004
    Erscheinungsdatum 2023-09-14
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    Dokumenttyp Buch ; Online
    Datenquelle BASE - Bielefeld Academic Search Engine (Lebenswissenschaftliche Auswahl)

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  6. Artikel ; Online: Robust Vascular Segmentation for Raw Complex Images of Laser Speckle Contrast Based on Weakly Supervised Learning.

    Fu, Suzhong / Xu, Jing / Chang, Shilong / Yang, Luyao / Ling, Shuting / Cai, Jinghan / Chen, Jiayin / Yuan, Jiacheng / Cai, Ying / Zhang, Bei / Huang, Zicheng / Yang, Kun / Sui, Wenhai / Xue, Linyan / Zhao, Qingliang

    IEEE transactions on medical imaging

    2024  Band 43, Heft 1, Seite(n) 39–50

    Abstract: Laser speckle contrast imaging (LSCI) is widely used for in vivo real-time detection and analysis of local blood flow microcirculation due to its non-invasive ability and excellent spatial and temporal resolution. However, vascular segmentation of LSCI ... ...

    Abstract Laser speckle contrast imaging (LSCI) is widely used for in vivo real-time detection and analysis of local blood flow microcirculation due to its non-invasive ability and excellent spatial and temporal resolution. However, vascular segmentation of LSCI images still faces a lot of difficulties due to numerous specific noises caused by the complexity of blood microcirculation's structure and irregular vascular aberrations in diseased regions. In addition, the difficulties of LSCI image data annotation have hindered the application of deep learning methods based on supervised learning in the field of LSCI image vascular segmentation. To tackle these difficulties, we propose a robust weakly supervised learning method, which selects the threshold combinations and processing flows instead of labor-intensive annotation work to construct the ground truth of the dataset, and design a deep neural network, FURNet, based on UNet++ and ResNeXt. The model obtained from training achieves high-quality vascular segmentation and captures multi-scene vascular features on both constructed and unknown datasets with good generalization. Furthermore, we intravital verified the availability of this method on a tumor before and after embolization treatment. This work provides a new approach for realizing LSCI vascular segmentation and also makes a new application-level advance in the field of artificial intelligence-assisted disease diagnosis.
    Mesh-Begriff(e) Artificial Intelligence ; Neural Networks, Computer ; Lasers ; Microcirculation/physiology ; Supervised Machine Learning ; Image Processing, Computer-Assisted/methods
    Sprache Englisch
    Erscheinungsdatum 2024-01-02
    Erscheinungsland United States
    Dokumenttyp Journal Article
    ZDB-ID 622531-7
    ISSN 1558-254X ; 0278-0062
    ISSN (online) 1558-254X
    ISSN 0278-0062
    DOI 10.1109/TMI.2023.3287200
    Datenquelle MEDical Literature Analysis and Retrieval System OnLINE

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    Verfügbar in ZB MED Köln/Königswinter

    Zs.A 2546: Hefte anzeigen Standort:
    Je nach Verfügbarkeit (siehe Angabe bei Bestand)
    bis Jg. 1994: Bestellungen von Artikeln über das Online-Bestellformular
    Jg. 1995 - 2021: Lesesall (2.OG)
    ab Jg. 2022: Lesesaal (EG)

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  7. Artikel ; Online: Combined-Indications Significance Level of Multiple Related Indications Developed Simultaneously.

    Yuan, Jiacheng / Zhu, Ray / Jia, Daniel / Palm, Ulo / Koch, Gary

    Therapeutic innovation & regulatory science

    2020  Band 54, Heft 3, Seite(n) 571–576

    Abstract: Background: Typically, regulatory requirements include 2 confirmatory studies, each at a 1-sided .025 significance level, for a medicine to be approved for a specific indication. When the same medicine has been approved in related indications, 1 ... ...

    Abstract Background: Typically, regulatory requirements include 2 confirmatory studies, each at a 1-sided .025 significance level, for a medicine to be approved for a specific indication. When the same medicine has been approved in related indications, 1 confirmatory study at a 1-sided .025 significance level could constitute adequate evidence of efficacy for a new indication.
    Methods: This article does not contain any studies with human or animal subjects performed by any of the authors. For multiple related indications developed simultaneously to constitute sufficient evidence of clinical efficacy, the combined-studies significance level can be set at the same level as if those indications are developed sequentially.
    Results: This article establishes possible strategies to develop a few related indications at the same time for marketing registration approval, maintaining a desired combined-studies significance level; for example, 1-sided .0000156 for 2 indications, with 1 option having each indication assessed with 1 confirmatory study at .00395 significance level.
    Conclusion: It is possible to develop a few indications at the same time for marketing registration approval, where the combinedstudies significance level is less stringent than that of the usual paradigm with 2 confirmatory studies each at 1-sided .025 significance level for every indication.
    Mesh-Begriff(e) Animals ; Drug Approval ; Humans ; Marketing
    Sprache Englisch
    Erscheinungsdatum 2020-01-06
    Erscheinungsland Switzerland
    Dokumenttyp Journal Article
    ZDB-ID 2708397-4
    ISSN 2168-4804 ; 2168-4790
    ISSN (online) 2168-4804
    ISSN 2168-4790
    DOI 10.1007/s43441-019-00089-z
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  8. Buch ; Online: Multi-Step Recurrent Q-Learning for Robotic Velcro Peeling

    Yuan, Jiacheng / Häni, Nicolai / Isler, Volkan

    2020  

    Abstract: Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging for robots. ... ...

    Abstract Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging for robots. In this work, we introduce velcro peeling as a representative application for robotic manipulation of non-rigid objects in complex environments. We present a method of learning force-based manipulation from noisy and incomplete sensor inputs in partially observable environments by modeling long term dependencies between measurements with a multi-step deep recurrent network. We present experiments on a real robot to show the necessity of modeling these long term dependencies and validate our approach in simulation and robot experiments. Our results show that using tactile input enables the robot to overcome geometric uncertainties present in the environment with high fidelity in ~90% of all cases, outperforming the baselines by a large margin.
    Schlagwörter Computer Science - Robotics
    Thema/Rubrik (Code) 629
    Erscheinungsdatum 2020-11-16
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    Dokumenttyp Buch ; Online
    Datenquelle BASE - Bielefeld Academic Search Engine (Lebenswissenschaftliche Auswahl)

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  9. Artikel ; Online: Design of randomized controlled confirmatory trials using historical control data to augment sample size for concurrent controls.

    Yuan, Jiacheng / Liu, Jeen / Zhu, Ray / Lu, Ying / Palm, Ulo

    Journal of biopharmaceutical statistics

    2019  Band 29, Heft 3, Seite(n) 558–573

    Abstract: This paper deals with the methods to augment concurrent controls (CC) in a randomized controlled trial with available historical data in clinical studies. In their article, ...

    Abstract This paper deals with the methods to augment concurrent controls (CC) in a randomized controlled trial with available historical data in clinical studies. In their article,
    Mesh-Begriff(e) Algorithms ; Computer Simulation ; Control Groups ; Historically Controlled Study/statistics & numerical data ; Humans ; Models, Statistical ; Randomized Controlled Trials as Topic/statistics & numerical data ; Research Design/statistics & numerical data ; Sample Size
    Sprache Englisch
    Erscheinungsdatum 2019-01-06
    Erscheinungsland England
    Dokumenttyp Journal Article
    ZDB-ID 1131763-2
    ISSN 1520-5711 ; 1054-3406
    ISSN (online) 1520-5711
    ISSN 1054-3406
    DOI 10.1080/10543406.2018.1559853
    Datenquelle MEDical Literature Analysis and Retrieval System OnLINE

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    Verfügbar in ZB MED Köln/Königswinter

    Zs.A 3511: Hefte anzeigen Standort:
    Je nach Verfügbarkeit (siehe Angabe bei Bestand)
    bis Jg. 1994: Bestellungen von Artikeln über das Online-Bestellformular
    Jg. 1995 - 2021: Lesesall (2.OG)
    ab Jg. 2022: Lesesaal (EG)

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  10. Artikel ; Online: Sample Size Calculation for Bioequivalence Studies Assessing Drug Effect and Food Effect at the Same Time With a 3-Treatment Williams Design.

    Yuan, Jiacheng / Tong, Tiejun / Tang, Man-Lai

    Therapeutic innovation & regulatory science

    2017  Band 47, Heft 2, Seite(n) 242–247

    Abstract: The US Food and Drug Administration issued a guidance in 2002, "Food-Effect Bioavailability and Fed Bioequivalence Studies," in which it states "in addition to a BE [bioequivalence] study under fasting conditions, we recommend a BE study under fed ... ...

    Abstract The US Food and Drug Administration issued a guidance in 2002, "Food-Effect Bioavailability and Fed Bioequivalence Studies," in which it states "in addition to a BE [bioequivalence] study under fasting conditions, we recommend a BE study under fed conditions for all orally administered immediate-release drug products" for abbreviated new drug applications. This statement involves 3 studies: a BE study under fasting status, a food-effect (FE) study, and a BE study under fed status. In practice, when it is known that there is no FE with a reference ( R) formulation, a sponsor may choose to run a BE study that assesses the drug effect and food effect with a test ( T) formulation in a single study that includes 3 treatments: R formulation at fasting status, T formulation at fasting status, and T formulation at fed status. Such a study combines the fasting BE study and the FE study on the T formulation and may justify the waiver of the fed BE study if conclusions can be made that there is no FE with the T formulation after this combined study completes. This article discusses how to calculate the sample size for this kind of study with different primary analysis models. Also discussed are (1) sample size calculations with more general BE studies and (2) how they can be implemented using commercial software in a standard 2-treatment, 2-period, and 2-sequence crossover design, as well as (3) a related practical issue of how to retrieve residual intrasubject mean squared error from historical summary results in the literature.
    Sprache Englisch
    Erscheinungsdatum 2017-05-19
    Erscheinungsland Switzerland
    Dokumenttyp Journal Article
    ZDB-ID 2708397-4
    ISSN 2168-4804 ; 2168-4790
    ISSN (online) 2168-4804
    ISSN 2168-4790
    DOI 10.1177/2168479012474273
    Datenquelle MEDical Literature Analysis and Retrieval System OnLINE

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