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cs.RO2025
Diffusion-SAFE: Diffusion-Native Human-to-Robot Driving Handover for Shared Autonomy
Yunxin Fan, Monroe Kennedy
Shared autonomy in driving requires anticipating human behavior, flagging risk before it becomes unavoidable, and transferring control safely and smoothly. We propose Diffusion-SAF…
cs.RO2025
Probabilistic Task Parameterization of Tool-Tissue Interaction via Sparse Landmarks Tracking in Robotic Surgery
Yiting Wang, Yunxin Fan, Fei Liu
Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods r…