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Positive Safety Margins from Artificial Potential Field Reward Augmentation for Size-Robust Obstacle Avoidance under Partial Observability
Ziyi Hao
Collision-free reaching is central to manipulation, yet real cells often leave the size and exact position of an obstacle unobserved, which excludes reinforcement learning controll…
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
Mingwu Su, Guankun Wang, Jinsong Lin +8
Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers…
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8
Endoscopic retrograde cholangiopancreatography (ERCP) demands precise endoscopic navigation and stable biliary cannulation within a narrow monocular field characterized by specular…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…