Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery

10 June 2024

Franziska Mathis-Ullrich

MedIm

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Papers citing "Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery"

23 / 23 papers shown

Title
Grasping Deformable Objects via Reinforcement Learning with Cross-Modal Attention to Visuo-Tactile Inputs Yonghyun Lee Sungeun Hong Min-gu Kim Gyeonghwan Kim Changjoo Nam 19 0 0 22 Apr 2025
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri Z. L. Jiang L. Chen Soroush Nasiriany Yuqi Xie ... Scott Reed Ken Goldberg Ajay Mandlekar Linxi Fan Yuke Zhu 59 1 0 31 Mar 2025
FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning Diego DallÁlba Michał Nasket Sabina Kaminska Przemysław Korzeniowski OffRL AI4CE 59 1 0 24 Mar 2025
Surgical Vision World Model Saurabh Koju Saurav Bastola Prashant Shrestha Sanskar Amgain Y. Shrestha Rudra P. K. Poudel Binod Bhattarai VGen MedIm 58 0 0 03 Mar 2025
DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning Zhen Zhang X. Chu Yunxi Tang K. W. S. Au 22 0 0 29 Oct 2024
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning Yun-Jie Ho Zih-Yun Chiu Yuheng Zhi Michael C. Yip OffRL 22 0 0 24 Sep 2024
Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation Jacinto Colan Keisuke Sugita Ana Davila Yutaro Yamada Yasuhisa Hasegawa MedIm 18 0 0 16 Sep 2024
Interactive Surgical Liver Phantom for Cholecystectomy Training Alexander Schuessler Rayan Younis Jamie Paik Martin Wagner Franziska Mathis-Ullrich Christian Kunz 19 1 0 05 Sep 2024
Surgical Task Automation Using Actor-Critic Frameworks and Self-Supervised Imitation Learning Jingshuai Liu Alain Andres Yonghang Jiang Xichun Luo Wenmiao Shu Sotirios A. Tsaftaris 29 0 0 04 Sep 2024
From Decision to Action in Surgical Autonomy: Multi-Modal Large Language Models for Robot-Assisted Blood Suction Sadra Zargarzadeh Maryam Mirzaei Yafei Ou Mahdi Tavakoli 21 1 0 14 Aug 2024
World Models for General Surgical Grasping Hongbin Lin Bin Li Chun Wai Wong Juan Rojas X. Chu K. W. S. Au 19 3 0 28 May 2024
Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot Zhenya Yang Yonghao Long Kai-xiang Chen Wang Wei Qi Dou AI4CE 13 3 0 02 Feb 2024
Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects Paul Maria Scheikl Nicolas Schreiber Christoph Haas Niklas Freymuth Gerhard Neumann Rudolf Lioutikov F. Mathis-Ullrich 13 34 0 15 Dec 2023
Imitation learning for sim-to-real transfer of robotic cutting policies based on residual Gaussian process disturbance force model Jamie Hathaway Rustam Stolkin Alireza Rastegarpanah 17 0 0 07 Nov 2023
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots Samuel Schmidgall Axel Krieger Jason Eshraghian OOD 29 5 0 07 Oct 2023
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery Xiao Liang Fei Liu Yutong Zhang Yuelei Li Shan Lin Michael C. Yip AI4CE 15 11 0 20 Sep 2023
SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation Alison Bartsch Charlotte Avra A. Farimani 3DPC AI4CE 11 9 0 15 Sep 2023
Deep Reinforcement Learning in Surgical Robotics: Enhancing the Automation Level Cheng Qian Hongliang Ren 6 3 0 02 Sep 2023
Safe Deep RL for Intraoperative Planning of Pedicle Screw Placement Yu Ao H. Esfandiari F. Carrillo Yarden As Mazda Farshad Benjamin Grewe Andreas Krause Philipp Fuernstahl 23 1 0 09 May 2023
End-to-End Learning of Deep Visuomotor Policy for Needle Picking Hongbin Lin Bin Li X. Chu Qi Dou Yunhui Liu K. W. S. Au OffRL 20 5 0 07 Mar 2023
LapGym -- An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery Paul Maria Scheikl B. Gyenes Rayan Younis Christoph Haas Gerhard Neumann M. Wagner F. Mathis-Ullrich 21 25 0 19 Feb 2023
Human-in-the-loop Embodied Intelligence with Interactive Simulation Environment for Surgical Robot Learning Yonghao Long Wang Wei Tao Huang Yuehao Wang Qingxu Dou 14 31 0 01 Jan 2023
Curriculum Learning for Reinforcement Learning Domains: A Framework and Survey Sanmit Narvekar Bei Peng Matteo Leonetti Jivko Sinapov Matthew E. Taylor Peter Stone ODL 132 451 0 10 Mar 2020