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cs.RO2026
Observation-Referenced Tissue Deformation Forecasting with Tool-Driven and Residual Dynamics
Tom Olesch, Nan Xiao, Xiongye Xiao +2
Forecasting tissue deformation from future instrument motion could support predictive planning and increasingly autonomous surgical systems. We study this problem using a scene-spe…
cs.RO2026
Refine Where It Matters: Contact-Adaptive Meshing for Deformable Object Manipulation
Gabriel Johnson, Tom Olesch, Fei Liu
Deformable-object manipulation requires accurate modeling of highly localized contact while maintaining simulation speeds suitable for interactive use. Uniformly fine tetrahedral m…
cs.RO2026
Surface-Constrained Offline Warping with Contact-Aware Online Pose Projection for Safe Robotic Trajectory Execution
Farong Wang, Sai Swaminathan, Fei Liu
Robotic manipulation tasks that require repeated tool motion along curved surfaces frequently arise in surface finishing, inspection, and guided interaction. In practice, nominal m…