3 papers
cs.RO2026
Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization
Hanyang Hu, Zekai Liang, Florian Richter +1
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled marker…
cs.RO2026
A Hamilton-Jacobi Reachability-Guided Search Framework for Efficient and Safe Indoor Planar Robot Navigation
Hanyang Hu, Cameron Siu, Mo Chen
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due…
cs.RO2024
Learning Robust Policies via Interpretable Hamilton-Jacobi Reachability-Guided Disturbances
Hanyang Hu, Xilun Zhang, Xubo Lyu +1
Deep Reinforcement Learning (RL) has shown remarkable success in robotics with complex and heterogeneous dynamics. However, its vulnerability to unknown disturbances and adversaria…