Video is an abundant, inexpensive source of human motion data that is rich in extreme athletic behaviors. Making it usable for humanoid robots, however, is not a matter of simply retargeting a reconstructed trajectory: video-derived motion is physically inconsistent, devoid of actuation information, and says nothing ab …
Active vision manipulation requires a policy to control both its camera and its end-effectors, yet camera motion determines which evidence remains visible within finite observation windows. Acquiring a new view can displace task-critical cues, while retaining a view forgoes potentially useful observations. We formulate …
Ultrasound (US) acquisition depends on the operator's ability to interpret anatomy and anticipate how the view will change with probe motion. Many robotic US navigation methods select actions without explicitly predicting these anatomical changes. We propose SonoGraph-WM, an action- and goal-conditioned world model for …
Medical ultrasound (US) is inherently degraded by speckle, a granular interference pattern that is often treated as a complex form of noise in image restoration. However, unlike random noise, US speckle originates from coherent scattering within tissue and is therefore highly spatially dependent and deterministic under …