Publications (4)
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Cosmos-Surg-dVRK: World Foundation Model-based Automated Online Evaluation of Surgical Robot Policy Learning
Lukas Zbinden, Nigel Nelson, Juo-Tung Chen +5
The rise of surgical robots and vision-language-action models has accelerated the development of autonomous surgical policies and efficient assessment strategies. However, evaluati…
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing
Jesse Haworth, Juo-Tung Chen, Nigel Nelson +4
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numer…
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks
Masoud Moghani, Nigel Nelson, Mohamed Ghanem +6
Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and r…