4 papers · 1 filter
Stage-Aware and Roughness-Constrained Diffusion Policy for Multi-Stage Robotic Polishing
Shuai Ke, Jiexin Zhang, Huan Zhao +7
Polishing is a critical finishing process in high-end manufacturing fields such as aerospace, where surface quality directly affects the service performance and reliability of comp…
Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills
Shuai Ke, Jiexin Zhang, Huan Zhao +4
Diffusion-based imitation learning methods have driven rapid progress in robot dexterous manipulation tasks. However, they have limitations when applied to tasks that involve compl…
Learning-Based Adaptive Control for Surgical Robotic Exposure Task on Deformable Tissues
Jiayi Liu, Kaiqi Wei, Yiwei Wang +2
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for pr…
Leveraging Surgical Activity Grammar for Primary Intention Prediction in Laparoscopy Procedures
Jie Zhang, Song Zhou, Yiwei Wang +4
Surgical procedures are inherently complex and dynamic, with intricate dependencies and various execution paths. Accurate identification of the intentions behind critical actions,…