Intermittent Visual Servoing: Efficiently Learning Policies Robust to
Instrument Changes for High-precision Surgical Manipulation

Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation

12 November 2020

Brijen Thananjeyan

Jeffrey Ichnowski

Joseph E. Gonzalez

ArXiv (abs)PDF HTML

Papers citing "Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation"

16 / 16 papers shown

Title
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations Jingbin Huang Fei Liu Florian Richter Michael C. Yip 44 18 0 02 Feb 2021
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning Zih-Yun Chiu Florian Richter E. Funk Ryan K. Orosco Michael C. Yip OffRL 88 58 0 09 Nov 2020
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones Brijen Thananjeyan Ashwin Balakrishna Suraj Nair Michael Luo K. Srinivasan M. Hwang Joseph E. Gonzalez Julian Ibarz Chelsea Finn Ken Goldberg OffRL 77 227 0 29 Oct 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 103 60 0 21 May 2020
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot M. Hwang Daniel Seita Brijen Thananjeyan Jeffrey Ichnowski Samuel Paradis Danyal Fer Thomas Low Ken Goldberg 120 31 0 15 Feb 2020
Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position Haonan Peng Xingjian Yang Yun-Hsuan Su Blake Hannaford 47 28 0 14 Oct 2019
DESK: A Robotic Activity Dataset for Dexterous Surgical Skills Transfer to Medical Robots Naveen Madapana Md Masudur Rahman Natalia Sanchez-Tamayo Mythra V. Balakuntala Glebys T. Gonzalez ... Juan Antonio Barragan Noguera Thomas Low Richard M. Voyles Yexiang Xue J. Wachs 56 31 0 03 Mar 2019
An Algorithmic Perspective on Imitation Learning Takayuki Osa Joni Pajarinen Gerhard Neumann J. Andrew Bagnell Pieter Abbeel Jan Peters 88 845 0 16 Nov 2018
QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation Dmitry Kalashnikov A. Irpan P. Pastor Julian Ibarz Alexander Herzog ... Deirdre Quillen E. Holly Mrinal Kalakrishnan Vincent Vanhoucke Sergey Levine 126 1,467 0 27 Jun 2018
Automated pick-up of suturing needles for robotic surgical assistance C. D’Ettorre G. Dwyer Xiaofei Du F. Chadebecq Francisco Vasconcelos Elena De Momi Danail Stoyanov OnRL 64 60 0 09 Apr 2018
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure Daniel Seita S. Krishnan Roy Fox Stephen McKinley John F. Canny Ken Goldberg 65 68 0 19 Sep 2017
Robot Autonomy for Surgery Michael C. Yip Nikhil Das 50 111 0 10 Jul 2017
Exploring Convolutional Networks for End-to-End Visual Servoing Aseem Saxena Harit Pandya Gourav Kumar Ayush Gaud K. M. Krishna SSL 69 79 0 10 Jun 2017
Learning Visual Servoing with Deep Features and Fitted Q-Iteration Alex X. Lee Sergey Levine Pieter Abbeel SSL 45 73 0 31 Mar 2017
Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection Sergey Levine P. Pastor A. Krizhevsky Deirdre Quillen 180 2,073 0 07 Mar 2016
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell OffRL 224 3,221 0 02 Nov 2010

We use cookies and other tracking technologies to improve your browsing experience on our website, to show you personalized content and targeted ads, to analyze our website traffic, and to understand where our visitors are coming from. See our policy.