From the 1 of 9 linked papers with an AI index.
6 papers · 1 filter
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…
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8
The paper introduces BiliVLA, a vision‑language‑action system that uses instruction‑conditioned visuomotor learning and reinforcement learning to autonomously navigate a continuum…
GeoLanG: Geometry-Aware Language-Guided Grasping with Unified RGB-D Multimodal Learning
Rui Tang, Guankun Wang, Long Bai +6
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains hig…
Contact-Aided Navigation of Flexible Robotic Endoscope Using Deep Reinforcement Learning in Dynamic Stomach
Chi Kit Ng, Huxin Gao, Tian-Ao Ren +2
Navigating a flexible robotic endoscope (FRE) through the gastrointestinal tract is critical for surgical diagnosis and treatment. However, navigation in the dynamic stomach is par…
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…
Three-dimensional Morphological Reconstruction of Millimeter-Scale Soft Continuum Robots based on Dual-Stereo-Vision
Tian-Ao Ren, Wenyan Liu, Tao Zhang +3
Continuum robots can be miniaturized to just a few millimeters in diameter. Among these, notched tubular continuum robots (NTCR) show great potential in many delicate applications.…