research
∙
12/08/2021
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Robotic Surgical Assistants (RSAs) are commonly used to perform minimall...
share
research
∙
06/29/2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Robot manipulation for untangling 1D deformable structures such as ropes...
research
∙
12/23/2020
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks
We consider the automation of the well-known peg-transfer task from the ...
research
∙
11/12/2020
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
Automation of surgical tasks using cable-driven robots is challenging du...
research
∙
11/10/2020
Untangling Dense Knots by Learning Task-Relevant Keypoints
Untangling ropes, wires, and cables is a challenging task for robots due...
research
∙
10/29/2020
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
Safety remains a central obstacle preventing widespread use of RL in the...
research
∙
03/28/2020
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images
Robotic fabric manipulation is challenging due to the infinite dimension...
research
∙
03/19/2020
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation
Automation of surgical subtasks using cable-driven robotic surgical assi...
research
∙
02/15/2020
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Recent advances in depth-sensing have significantly increased accuracy, ...
research
∙
09/23/2019