3 papers
cs.RO2026
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
Mingwu Su, Guankun Wang, Jinsong Lin +8
Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers…
cs.RO2026
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…
cs.RO2025
CapsDT: Diffusion-Transformer for Capsule Robot Manipulation
Xiting He, Mingwu Su, Xinqi Jiang +3
Vision-Language-Action (VLA) models have emerged as a prominent research area, showcasing significant potential across a variety of applications. However, their performance in endo…