2 papers
cs.RO2025
Jacobian Exploratory Dual-Phase Reinforcement Learning for Dynamic Endoluminal Navigation of Deformable Continuum Robots
Yu Tian, Chi Kit Ng, Hongliang Ren
Deformable continuum robots (DCRs) present unique planning challenges due to nonlinear deformation mechanics and partial state observability, violating the Markov assumptions of co…
cs.RO2025
Learning to Perform Low-Contact Autonomous Nasotracheal Intubation by Recurrent Action-Confidence Chunking with Transformer
Yu Tian, Ruoyi Hao, Yiming Huang +4
Nasotracheal intubation (NTI) is critical for establishing artificial airways in clinical anesthesia and critical care. Current manual methods face significant challenges, includin…