anomaly detection 1failure detection 1flow matching 1imitation learning 1surgical robotics 1world modeling 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
Zhefeng Huang, Yilin Cai, Ankit Patel +3
The paper presents FoMo-FD, a method that detects failures in robot-assisted surgery by learning short-term visual dynamics with an action‑conditioned flow‑matching world model, al…
cs.RO2025
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…