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cs.RO2026
Robust Surgical Robotic Instrument Tracking via Sequential Multi-Cue Fusion and Sim-to-Real Self-Training
Hanyang Hu, Zekai Liang, Florian Richter +1
Efficient and robust tracking of surgical robotic instruments is important for robot-assisted minimally invasive surgery, yet remains challenging due to the complexity of surgical…
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.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…