19 citations · 37 across the 10 of their papers we have counts for
3 papers · 1 filter
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
Yun-Jie Ho, Zih-Yun Chiu, Yuheng Zhi +1
Surgical automation holds immense potential to improve the outcome and accessibility of surgery. Recent studies use reinforcement learning to learn policies that automate different…
KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
Soofiyan Atar, Yuheng Zhi, Florian Richter +1
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D…
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter +4
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuit…