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cs.RO2026
Bayesian Retraction Optimization for Tissue Attachment Mapping in Surgical Dissection
Shing-Hei Ho, Bao Thach, Toan Vo +2
With growing surgeon shortages, automating surgical sub-tasks such as tissue dissection offers a promising step toward reducing workload and expanding patient access. Prior work ha…
cs.RO2025
DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation
Bao Thach, Siyeon Kim, Britton Jordan +6
Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for this problem is shape servoing, which aims to control deformable objects t…
cs.RO2024
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery
Zohre Karimi, Shing-Hei Ho, Bao Thach +2
Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making proces…