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SDF-Pack: Towards Compact Bin Packing with Signed-Distance-Field Minimization
Jia-Hui Pan, Ka-Hei Hui, Xiaojie Gao +4
Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach ba…
3D Perception based Imitation Learning under Limited Demonstration for Laparoscope Control in Robotic Surgery
Bin Li, Ruofeng Wei, Jiaqi Xu +6
Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking with…
SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning
Jiaqi Xu, Bin Li, Bo Lu +3
Autonomous surgical execution relieves tedious routines and surgeon's fatigue. Recent learning-based methods, especially reinforcement learning (RL) based methods, achieve promisin…
A Learning-Driven Framework with Spatial Optimization For Surgical Suture Thread Reconstruction and Autonomous Grasping Under Multiple Topologies and Environmental Noises
Bo Lu, Wei Chen, Yue-Ming Jin +5
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient.…