2 papers
cs.RO2026
A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers
Kaiwen Zuo, Shuyuan Yang, Zonghe Chua
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deforma…
cs.RO2025
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation
Shuyuan Yang, Zonghe Chua
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing a…