6 papers
Learning to Throw Objects Safely in Multi-Obstacle Environments
Mohammadreza Kasaei, Klemen Voncina, Hamidreza Kasaei
Robotic throwing enables fast and efficient object placement beyond the robot's immediate workspace, but reliable throwing in cluttered environments remains underexplored. Existing…
Geometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion
Mohammadreza Kasaei, Francis Xiatian Zhang, Feng Li +3
Navigational bronchoscopy is critical for pulmonary interventions, yet current platforms depend heavily on pre-operative CT or external sensors, limiting their use in critical care…
Shape-Aware Whole-Body Control for Continuum Robots with Application in Endoluminal Surgical Robotics
Mohammadreza Kasaei, Mostafa Ghobadi, Mohsen Khadem
This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures…
BREA-Depth: Bronchoscopy Realistic Airway-geometric Depth Estimation
Francis Xiatian Zhang, Emile Mackute, Mohammadreza Kasaei +3
Monocular depth estimation in bronchoscopy can significantly improve real-time navigation accuracy and enhance the safety of interventions in complex, branching airways. Recent adv…
VITAL: Interactive Few-Shot Imitation Learning via Visual Human-in-the-Loop Corrections
Hamidreza Kasaei, Mohammadreza Kasaei
Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection…
A Synergistic Framework for Learning Shape Estimation and Shape-Aware Whole-Body Control Policy for Continuum Robots
Mohammadreza Kasaei, Farshid Alambeigi, Mohsen Khadem
In this paper, we present a novel synergistic framework for learning shape estimation and a shape-aware whole-body control policy for tendon-driven continuum robots. Our approach l…