48 citations · 227 across the 25 of their papers we have counts for
9 papers · 1 filter
Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans
Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan +5
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this…
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
Daniel Seita, Pete Florence, Jonathan Tompson +4
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional co…
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
Samuel Paradis, Minho Hwang, Brijen Thananjeyan +6
Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must…
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables
Harry Zhang, Jeffrey Ichnowski, Daniel Seita +3
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we…
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan +5
We explore learning pixelwise correspondences between images of deformable objects in different configurations. Traditional correspondence matching approaches such as SIFT, SURF, a…
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan +10
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior wo…
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
Ryan Hoque, Daniel Seita, Ashwin Balakrishna +6
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. Existing fabric manipulation techniques, however, are designed for specific tasks,…
Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks
Minho Hwang, Brijen Thananjeyan, Samuel Paradis +5
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in…
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Minho Hwang, Daniel Seita, Brijen Thananjeyan +5
Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera.…