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Papers

RoMu4o: A Robotic Manipulation Unit For Orchard Operations Automating Proximal Hyperspectral Leaf Sensing
Date pendingMehrad Mortazavi, David J. Cappelleri, Reza EhsaniAgricultural Robots Robotic Perception
PathoHR: Breast Cancer Survival Prediction on High-Resolution Pathological Images
Date pendingYang Luo, Shiru Wang, Jun Liu +7Computational Pathology Feature Extraction
GLaMoR: Consistency Checking of OWL Ontologies using Graph Language Models
Date pendingJustin Mücke, Ansgar ScherpOntology Large Language Model Reasoning
Towards AI-Driven Policing: Interdisciplinary Knowledge Discovery from Police Body-Worn Camera Footage
Date pendingAnita Srbinovska, Angela Srbinovska, Vivek Senthil +4Policing Video Surveillance
Prompting with Sign Parameters for Low-resource Sign Language Instruction Generation
Date pendingMd Tariquzzaman, Md Farhan Ishmam, Saiyma Sittul Muna +2Sign Language Sign
Spectral Masking and Interpolation Attack (SMIA): A Black-box Adversarial Attack against Voice Authentication and Anti-Spoofing Systems
Date pendingKamel Kamel, Hridoy Sankar Dutta, Keshav Sood +1Spoofed Speech Cross-Lingual Voice Cloning
The PIMMUR Principles: Ensuring Validity in Collective Behavior of LLM Societies
Date pendingJiaxu Zhou, Jen-tse Huang, Xuhui Zhou +5User Simulation Computational Social Science
Evidence for Limited Metacognition in LLMs
Date pendingChristopher AckermanMetacognition Large Language Model Uncertainty
Confidence-Calibrating Regularization for Robust Brain MRI Segmentation Under Domain Shift
Date pendingBehraj Khan, Tahir Qasim Syed, Syed Ahmad Chan BukhariMagnetic Resonance Imaging Segment Anything Model
Nonlinear Dimensionality Reduction Techniques for Bayesian Optimization
Date pendingLuo Long, Coralia Cartis, Paz Fink ShustinBayesian Optimization Dimensionality Reduction
Is Multilingual LLM Watermarking Truly Multilingual? Scaling Robustness to 100+ Languages via Back-Translation
Date pendingAsim Mohamed, Martin GubriLarge Language Model Watermarks Multilingual
Timely Clinical Diagnosis through Active Test Selection
Date pendingSilas Ruhrberg Estévez, Nicolás Astorga, Mihaela van der SchaarDiagnostic Benchmark Model Selection
Hurdle-RMIL: Addressing Zero Inflation and Long-Tailed Imbalance in Infrared Rainfall Retrieval
Date pendingFangjian Zhang, Xiaoyong Zhuge, Wenlan Wang +4Precipitation Remote Sensing
When Bias Pretends to Be Truth: How Spurious Correlations Undermine Hallucination Detection in LLMs
Date pendingShaowen Wang, Yiqi Dong, Ruinian Chang +4Spurious Correlations
Do Vision-Language Models Understand Visual Persuasiveness? A Diagnosis via Visual Persuasive Factors
Date pendingGyuwon Park, Hyounghun KimPersuasion Cognitive Science
Classical and quantum kernel fusion for two-sample testing
Date pendingYu Terada, Yugo Ogio, Ken Arai +2Quantum Kernels Two-Sample Testing
SUCCESS-GS: Survey of Compactness and Compression for Efficient Static and Dynamic Gaussian Splatting
Date pendingSeokhyun Youn, Soohyun Lee, Geonho Kim +3Gaussian Splatting 3D Gaussian Splatting
4D-RaDiff: Latent Point Diffusion for 4D Radar Point Cloud Generation
Date pendingJimmie Kwok, Holger Caesar, Andras PalffyLight Detection And Ranging Point Clouds Radar
Deep learning methods for inverse problems using connections between proximal operators and Hamilton-Jacobi equations
Date pendingOluwatosin Akande, Gabriel P. Langlois, Akwum OnwuntaIll-Posed Inverse Problem Inverse Problem
PACEvolve: Enabling Progress-Aware Consistent Evolution
Date pendingMinghao Yan, Bo Peng, Benjamin Coleman +13Agent Memory
Generative AI Assisted Workflows in Architectural Conceptual Design: Performance, Creative Self-Efficacy, and Cognitive Load
Date pendingYao Xiao, Han Jiang, Rachel Hurley +1Generative Artificial Intelligence Agentic Workflows
Trainability-Oriented Hybrid Quantum Regression via Geometric Preconditioning and Curriculum Optimization
Date pendingQingyu Meng, Yangshuai WangQuantum Neural Networks Hybrid Quantum Neural Networks
AnyView: Synthesizing Any Novel View in Dynamic Scenes
Date pendingBasile Van Hoorick, Dian Chen, Shun Iwase +7Controllable Video Generation Novel View Synthesis
Gaussian Belief Propagation Network for Depth Completion
Date pendingJie Tang, Pingping Xie, Jian Li +1Depth Estimation Dense Prediction
PACIFIC: Can LLMs Discern the Psychometric Traits Influencing Your Preferences? Personality-Driven Preference Alignment in LLMs
Date pendingTianyu Zhao, Siqi Li, Yasser Shoukry +1Preference Alignment Personality
In-Hospital Stroke Risk-State Classification from PPG-Derived Hemodynamic Features
Date pendingJiaming Liu, Cheng Ding, Jian Wu +2Stroke Cardiometabolic Risk
False positive bias in AI-powered speech-based cognitive screening for multilingual English speakers in the UK
Date pendingMadhurananda Pahar, Caitlin Illingworth, Dorota Braun +4Multilingual Automatic Speech Recognition Multilingual
Kalman Filtering Based Flight Management System Modeling for AAM Aircraft
Date pendingBalram Kandoria, Aryaman Singh SamyalExtended Kalman Filter Air Traffic Control
Measuring Pragmatic Influence in Large Language Model Instructions
Date pendingYilin Geng, Omri Abend, Eduard Hovy +1Task Framing Instruction-Tuned Models
MedCollab: IBIS-Guided Multi-Agent Collaboration with Hierarchical Disease Relation Chains for Clinical Diagnosis
Date pendingYuqi Zhan, Xinyue Wu, Tianyu Lin +6Clinical Reasoning Collaboration

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RoMu4o: A Robotic Manipulation Unit For Orchard Operations Automating Proximal Hyperspectral Leaf Sensing

Mehrad Mortazavi, David J. Cappelleri, Reza Ehsani

Department of Mechanical Engineering, University of California, Merced, CA, 95343, USA · School of Mechanical Engineering and Weldon School of Biomedical Engineering (By Courtesy), Purdue University, West Lafayette, IN USA 47907

Driven by the need to address labor shortages and meet the demands of a rapidly growing population, robotic automation has become a critical component in precision agriculture. Leaf-level hyperspectral spectroscopy is shown to be a powerful tool for phenotyping, monitoring crop health, identifying essential nutrients within plants as well as detecting diseases and water stress. This work introduces RoMu4o, a robotic manipulation unit for orchard operations offering an automated solution for proximal hyperspectral leaf sensing. This ground robot is equipped with a 6DOF robotic arm and vision system for real-time deep learning-based image processing and motion planning. We developed robust perception and manipulation pipelines that enable the robot to successfully grasp target leaves and perform spectroscopy. These frameworks operate synergistically to identify and extract the 3D structure of leaves from an observed batch of foliage, propose 6D poses, and generate collision-free constraint-aware paths for precise leaf manipulation. The end-effector of the arm features a compact design that integrates an independent lighting source with a hyperspectral sensor, enabling high-fidelity data acquisition while streamlining the calibration process for accurate measurements. Our ground robot is engineered to operate in unstructured orchard environments. However, the performance of the system is evaluated in both indoor and outdoor plant models. The system demonstrated reliable performance for 1-LPB hyperspectral sampling, achieving 95% success rate in lab trials and 79% in field trials. Field experiments revealed an overall success rate of 70% for autonomous leaf grasping and hyperspectral measurement in a pistachio orchard.

Agricultural Robots Robotic Perception

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