1 citations · 2 across the 8 of their papers we have counts for
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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…
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…
arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery
Nan Xiao, Yunxin Fan, Farong Wang +1
Affordance reasoning provides a principled link between perception and action, yet remains underexplored in surgical robotics, where tissues are highly deformable, compliant, and d…
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…