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2011.00800
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Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy
IEEE International Conference on Robotics and Automation (ICRA), 2020
2 November 2020
Fei Liu
Zihan Li
Yunhai Han
Jingpei Lu
Florian Richter
Michael C. Yip
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Papers citing
"Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy"
23 / 23 papers shown
Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting
Zhaodong Yang
Ai-Ping Hu
Harish Ravichandar
AI4CE
189
0
0
30 Mar 2026
Data-Driven Contact-Aware Control Method for Real-Time Deformable Tool Manipulation: A Case Study in the Environmental Swabbing
Siavash Mahmoudi
Amirreza Davar
Dongyi Wang
304
1
0
27 Mar 2025
MEDiC: Autonomous Surgical Robotic Assistance to Maximizing Exposure for Dissection and Cautery
IEEE International Conference on Robotics and Automation (ICRA), 2024
Xiao Liang
Chung-Pang Wang
Nikhil Shinde
Fei Liu
Florian Richter
Michael C. Yip
290
6
0
22 Sep 2024
A Review on Organ Deformation Modeling Approaches for Reliable Surgical Navigation using Augmented Reality
Computer Assisted Surgery (CAS), 2024
Zheng Han
Qi Dou
238
14
0
05 Aug 2024
Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics
Jad Abou-Chakra
Krishan Rana
Feras Dayoub
Niko Sünderhauf
3DGS
387
46
0
16 Jun 2024
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments
Nikhil Shinde
Xiao Liang
Fei Liu
Yutong Zhang
Florian Richter
Sylvia Herbert
Michael C. Yip
252
13
0
16 May 2024
Function based sim-to-real learning for shape control of deformable free-form surfaces
Yingjun Tian
Guoxin Fang
Renbo Su
Weiming Wang
Simeon Gill
Simeon Gill
Charlie C. L. Wang
AI4CE
241
3
0
14 May 2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy
Alison Bartsch
Arvind Car
Charlotte Avra
A. Farimani
302
11
0
15 Mar 2024
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
IEEE International Conference on Robotics and Automation (ICRA), 2024
Christopher DÁmbrosia
Florian Richter
Zih-Yun Chiu
Nikhil Shinde
Fei Liu
Henrik I. Christensen
Michael C. Yip
181
8
0
08 Mar 2024
A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers
Feida Gu
Yanmin Zhou
Zhipeng Wang
Shuo Jiang
Bin He
AI4CE
314
27
0
16 Dec 2023
BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields
IEEE Workshop/Winter Conference on Applications of Computer Vision (WACV), 2023
Shreya Saha
Sainan Liu
Shan Lin
Jingpei Lu
Michael C. Yip
Sainan Liu
MedIm
379
9
0
27 Sep 2023
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Sha Lin
Albert J. Miao
Ali Alabiad
Fei Liu
Kaiyuan Wang
Jingpei Lu
Florian Richter
Michael C. Yip
421
3
0
25 Sep 2023
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery
IEEE International Conference on Robotics and Automation (ICRA), 2023
Xiao Liang
Fei Liu
Yutong Zhang
Yuelei Li
Shan Lin
Michael C. Yip
AI4CE
430
29
0
20 Sep 2023
Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints
IEEE International Conference on Robotics and Automation (ICRA), 2023
Yutong Zhang
Fei Liu
Xiao Liang
Michael C. Yip
AI4CE
231
8
0
20 Sep 2023
SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Alison Bartsch
Charlotte Avra
A. Farimani
3DPC
AI4CE
290
15
0
15 Sep 2023
Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation using Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2023
Yafei Ou
Mahdi Tavakoli
170
30
0
25 Jun 2023
ORRN: An ODE-based Recursive Registration Network for Deformable Respiratory Motion Estimation with Lung 4DCT Images
IEEE Transactions on Biomedical Engineering (IEEE Trans. Biomed. Eng.), 2023
Xiao Liang
Shan Lin
Fei Liu
Dimitri A. Schreiber
Michael C. Yip
285
16
0
24 May 2023
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Priya Sundaresan
Rika Antonova
Jeannette Bohg
3DPC
310
48
0
07 Apr 2022
Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty
IEEE International Conference on Robotics and Automation (ICRA), 2022
E. Tagliabue
Daniele Meli
Diego DallÁlba
Paolo Fiorini
294
17
0
10 Mar 2022
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics
Fei Liu
Entong Su
Jingpei Lu
Ming Li
Michael C. Yip
AI4CE
189
10
0
20 Feb 2022
Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization
IEEE Transactions on robotics (TRO), 2022
Jeongmin Lee
Minji Lee
Dongjun Lee
AI4CE
212
6
0
23 Jan 2022
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics
Fei Liu
Ming Li
Jingpei Lu
Entong Su
Michael C. Yip
AI4CE
224
6
0
15 Jan 2022
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Rika Antonova
Jingyun Yang
Priya Sundaresan
Dieter Fox
Fabio Ramos
Jeannette Bohg
343
26
0
09 Dec 2021
1
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