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2011.04813
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Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
9 November 2020
Zih-Yun Chiu
Florian Richter
E. Funk
Ryan K. Orosco
Michael C. Yip
OffRL
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Papers citing
"Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning"
36 / 36 papers shown
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing
Jesse Haworth
Juo-Tung Chen
Nigel Nelson
Ji Woong Kim
Masoud Moghani
Chelsea Finn
A. Krieger
204
3
0
23 Oct 2025
Soft Regrasping Tool Inspired by Jamming Gripper
Takuya Kiyokawa
Zhengtao Hu
Weiwei Wan
Kensuke Harada
72
0
0
17 Sep 2025
Visuomotor Grasping with World Models for Surgical Robots
Hongbin Lin
Bin Li
K. W. S. Au
199
1
0
15 Aug 2025
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation
Shuyuan Yang
Zonghe Chua
168
1
0
13 May 2025
FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Diego DallÁlba
Michał Nasket
Sabina Kaminska
Przemysław Korzeniowski
OffRL
AI4CE
343
3
0
24 Mar 2025
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments
Zekai Liang
Zih-Yun Chiu
Florian Richter
Michael C. Yip
MedIm
220
8
0
07 Mar 2025
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
Yun-Jie Ho
Zih-Yun Chiu
Yuheng Zhi
Michael C. Yip
OffRL
282
1
0
24 Sep 2024
World Models for General Surgical Grasping
Hongbin Lin
Bin Li
Chun Wai Wong
Juan Rojas
Xiangyu Chu
K. W. S. Au
302
7
0
28 May 2024
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery
International Symposium on Medical Robotics (ISMR), 2024
Zohre Karimi
Shing-Hei Ho
Bao Thach
Alan Kuntz
Daniel S. Brown
OffRL
251
11
0
10 Apr 2024
STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs
Kush Hari
Hansoul Kim
Will Panitch
Kishore Srinivas
Vincent Schorp
K. Dharmarajan
Shreya Ganti
Tara Sadjadpour
Kenneth Y. Goldberg
163
17
0
08 Apr 2024
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil Shinde
Zih-Yun Chiu
Florian Richter
Jason Lim
Yuheng Zhi
Sylvia Herbert
Michael C. Yip
168
4
0
29 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
152
5
0
08 Mar 2024
Twisting Lids Off with Two Hands
Toru Lin
Zhao-Heng Yin
Haozhi Qi
Pieter Abbeel
Jitendra Malik
227
51
0
04 Mar 2024
Suturing Tasks Automation Based on Skills Learned From Demonstrations: A Simulation Study
Haoying Zhou
Yiwei Jiang
Shang Gao
Shiyue Wang
Peter Kazanzides
Gregory S. Fischer
175
4
0
01 Mar 2024
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
Samuel Schmidgall
Axel Krieger
Nhan Duy Truong
OOD
310
24
0
07 Oct 2023
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Bao Thach
Tanner Watts
S. Ho
Tucker Hermans
Alan Kuntz
186
2
0
25 Sep 2023
Deep Reinforcement Learning in Surgical Robotics: Enhancing the Automation Level
Cheng Qian
Hongliang Ren
264
15
0
02 Sep 2023
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2023
Yijiong Lin
Alex Church
Max Yang
Haoran Li
John Lloyd
Dandan Zhang
Nathan Lepora
263
48
0
12 Jul 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
144
28
0
25 Jun 2023
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers
IEEE Robotics and Automation Letters (RA-L), 2023
Jacob J. Johnson
A. H. Qureshi
Michael C. Yip
298
25
0
01 Jun 2023
Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy
Fangxun Zhong
Yao Xiao
140
11
0
13 May 2023
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects
Bao Thach
Brian Y. Cho
Shing-Hei Ho
Tucker Hermans
Alan Kuntz
338
8
0
08 May 2023
End-to-End Learning of Deep Visuomotor Policy for Needle Picking
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Hongbin Lin
Bin Li
Xiangyu Chu
Qi Dou
Yunhui Liu
K. W. S. Au
OffRL
250
8
0
07 Mar 2023
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jingpei Lu
Fei Liu
C. Girerd
Michael C. Yip
207
26
0
27 Feb 2023
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot
IEEE International Conference on Robotics and Automation (ICRA), 2023
Tao Huang
Kai-xiang Chen
Bin Li
Yunhui Liu
Qingxu Dou
198
32
0
20 Feb 2023
LapGym -- An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery
Journal of machine learning research (JMLR), 2023
Paul Maria Scheikl
B. Gyenes
Rayan Younis
Christoph Haas
Gerhard Neumann
M. Wagner
F. Mathis-Ullrich
279
42
0
19 Feb 2023
Mixline: A Hybrid Reinforcement Learning Framework for Long-horizon Bimanual Coffee Stirring Task
International Conference on Intelligent Robotics and Applications (ICIRA), 2022
Zheng Sun
Zhiqi Wang
Junjia Liu
Miao Li
Fei Chen
148
5
0
04 Nov 2022
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
IEEE International Conference on Robotics and Automation (ICRA), 2022
Zih-Yun Chiu
Florian Richter
Michael C. Yip
116
11
0
21 Oct 2022
Automatic Parameter Optimization Using Genetic Algorithm in Deep Reinforcement Learning for Robotic Manipulation Tasks
Adarsh Sehgal
Nicholas Ward
Hung M. La
S. Louis
159
1
0
07 Apr 2022
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Brijen Thananjeyan
Justin Kerr
Huang Huang
Joseph E. Gonzalez
Ken Goldberg
254
16
0
09 Mar 2022
Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario
International Symposium on Medical Robotics (ISMR), 2022
Yonghao Long
Jianfeng Cao
Anton Deguet
Russell H. Taylor
Qi Dou
391
25
0
02 Jan 2022
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Albert Wilcox
Justin Kerr
Brijen Thananjeyan
Jeffrey Ichnowski
M. Hwang
Samuel Paradis
Danyal Fer
Ken Goldberg
231
37
0
08 Dec 2021
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds
IEEE International Conference on Robotics and Automation (ICRA), 2021
Bao Thach
Brian Y. Cho
Alan Kuntz
Tucker Hermans
3DPC
264
40
0
10 Oct 2021
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Zih-Yun Chiu
Albert Z Liao
Florian Richter
Bjorn A. Johnson
Michael C. Yip
185
23
0
26 Sep 2021
Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach
IEEE Transactions on robotics (TRO), 2021
Florian Richter
Jingpei Lu
Ryan K. Orosco
Michael C. Yip
175
32
0
11 Feb 2021
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2020
Samuel Paradis
M. Hwang
Brijen Thananjeyan
Jeffrey Ichnowski
Daniel Seita
Danyal Fer
Thomas Low
Joseph E. Gonzalez
Ken Goldberg
193
37
0
12 Nov 2020
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