3 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…
physics.med-ph2025
Dexterous Intramyocardial Needle Ablation (d-INA): Design, Fabrication, and In-Vivo Validation
Chang Zhou, Charles P. Hong, Yifan Wang +4
Radiofrequency ablation is widely used to prevent ventricular tachycardia (VT) by creating lesions to inhibit arrhythmias; however, the current surface ablation catheters are limit…
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…