2 papers
eess.SY2025
MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
Fanxin Wang, Yikun Cheng, Chuyuan Tao
In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently…
eess.SP2024
Transformer Based Tissue Classification in Robotic Needle Biopsy
Fanxin Wang, Yikun Cheng, Sudipta S Mukherjee +2
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue…