3 papers
cs.RO2026
Transferable Tool-Tissue Contact Detection from Stereo Depth in Robot-Assisted Surgery
Mingyeung Wu, Zhonghao Zhang, Hao Yang +2
Reliable tool--tissue contact detection can support interaction-aware control and downstream force estimation in robot-assisted surgery. Most existing methods learn a contact class…
cs.RO2026
Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection
Yi Wang, Wendi Chen, Zimo Wen +8
Pretrained vision-language-action (VLA) policies provide strong language-conditioned manipulation knowledge, but they remain largely vision-driven and can struggle once manipulatio…
eess.IV2024
SynStitch: a Self-Supervised Learning Network for Ultrasound Image Stitching Using Synthetic Training Pairs and Indirect Supervision
Xing Yao, Runxuan Yu, Dewei Hu +10
Ultrasound (US) image stitching can expand the field-of-view (FOV) by combining multiple US images from varied probe positions. However, registering US images with only partially o…