1 citations · 1 across the 15 of their papers we have counts for
16 papers
Live Thread Reconstruction for Autonomous Manipulation
Emma Huang, Omar Hernandez, Zih-Yun Chiu +1
Autonomous robotic surgery has drawn increased attention in recent years due to its potential to relieve surgeons of time-consuming, mentally straining, and tedious tasks, particul…
Reeling It In: Flexible Needle Pick Up via Thread Manipulation for Autonomous Suturing
Emma Huang, Zih-Yun Chiu, Neelay Joglekar +2
Suture-needle pickup is necessary for autonomous suturing, as a needle can be unexpectedly dropped or strategically released to adjust the grasping configuration. Current methods f…
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…
Optimal Motion Scaling for Delayed Telesurgery
Jason Lim, Florian Richter, Zih-Yun Chiu +6
Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce er…
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments
Zekai Liang, Zih-Yun Chiu, Florian Richter +1
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgica…
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…
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…
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu +4
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well…
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi +2
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platform…
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Florian Richter, Michael C. Yip
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for au…
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking
Shan Lin, Albert J. Miao, Jingpei Lu +4
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in…
Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning
Zih-Yun Chiu, Yi-Lin Tuan, William Yang Wang +1
Reinforcement learning (RL) agents have long sought to approach the efficiency of human learning. Humans are great observers who can learn by aggregating external knowledge from va…
Dynamic Latent Separation for Deep Learning
Yi-Lin Tuan, Zih-Yun Chiu, William Yang Wang
A core problem in machine learning is to learn expressive latent variables for model prediction on complex data that involves multiple sub-components in a flexible and interpretabl…
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Albert Z Liao, Florian Richter +2
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection scheme…
Parallelized Reverse Curriculum Generation
Zih-Yun Chiu, Yi-Lin Tuan, Hung-yi Lee +1
For reinforcement learning (RL), it is challenging for an agent to master a task that requires a specific series of actions due to sparse rewards. To solve this problem, reverse cu…
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
Zih-Yun Chiu, Florian Richter, Emily K. Funk +2
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guide…