3 papers
cs.RO2026
MACAW: Reliable And Efficient Surgical Debridement Using Monocular Adaptive Compact Attention Windows
Ziyang Chen, Shutong Jin, Preethi Satish +6
Augmenting the dexterity of human surgeons has the potential to free them from tedious subtasks. We consider debridement (removal of diseased or dead tissue fragments), which is ch…
cs.RO2026
2D and 3D Grasp Planners for the GET Asymmetrical Gripper
Andrew Goldberg, Ethan Ransing, Anton Kourakin +3
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a nov…
cs.RO2026
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…