3 papers
cs.RO2026
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
Zhefeng Huang, Yilin Cai, Ankit Patel +3
Imitation learning has shown increasing promise for autonomous robotic surgery, yet safe deployment remains challenging due to the safety-critical nature of surgical tasks and the…
physics.med-ph2025
Dexterous Intramyocardial Needle Ablation (d-INA): Design, Fabrication, and In-Vivo Validation
Chang Zhou, Charles P. Hong, Yifan Wang +4
Radiofrequency ablation is widely used to prevent ventricular tachycardia (VT) by creating lesions to inhibit arrhythmias; however, the current surface ablation catheters are limit…
cs.RO2024
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…