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cs.RO2026
EgoCPT: Learning Dexterous Manipulation from a Single Ego-Centric Video with Contact-Aware Optimization
Zhixin Sun, Kairui Shi, Tianao Ren +3
While expert demonstrations on real robots are difficult to collect, human ego-centric videos are easy to collect and abundant on the internet. However, learning dexterous manipula…
cs.RO2025
Contact-Aided Navigation of Flexible Robotic Endoscope Using Deep Reinforcement Learning in Dynamic Stomach
Chi Kit Ng, Huxin Gao, Tian-Ao Ren +2
Navigating a flexible robotic endoscope (FRE) through the gastrointestinal tract is critical for surgical diagnosis and treatment. However, navigation in the dynamic stomach is par…
cs.RO2024
Three-dimensional Morphological Reconstruction of Millimeter-Scale Soft Continuum Robots based on Dual-Stereo-Vision
Tian-Ao Ren, Wenyan Liu, Tao Zhang +3
Continuum robots can be miniaturized to just a few millimeters in diameter. Among these, notched tubular continuum robots (NTCR) show great potential in many delicate applications.…