Safe Reinforcement Learning using Formal Verification for Tissue
Retraction in Autonomous Robotic-Assisted Surgery

Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery

6 September 2021

Enrico Marchesini

Diego DallÁlba

Alessandro Farinelli

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Papers citing "Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery"

19 / 19 papers shown

Title
FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning Diego DallÁlba Michał Nasket Sabina Kaminska Przemysław Korzeniowski OffRL AI4CE 100 1 0 24 Mar 2025
Shield Synthesis for LTL Modulo Theories Andoni Rodríguez Guy Amir Davide Corsi César Sánchez Guy Katz 98 7 0 17 Feb 2025
Enhancing Safety in Reinforcement Learning with Human Feedback via Rectified Policy Optimization Xiyue Peng Hengquan Guo Jiawei Zhang Dongqing Zou Ziyu Shao Honghao Wei Xin Liu 97 2 0 25 Oct 2024
From Decision to Action in Surgical Autonomy: Multi-Modal Large Language Models for Robot-Assisted Blood Suction Sadra Zargarzadeh Maryam Mirzaei Yafei Ou Mahdi Tavakoli 79 4 0 14 Aug 2024
Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach Sahba Aghajani Pedram P. Ferguson Changyeob Shin Ankur M. Mehta E. Dutson Farshid Alambeigi J. Rosen 54 25 0 08 Oct 2019
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics Yang Li Florian Richter Jingpei Lu E. Funk Ryan K. Orosco Jianke Zhu Michael C. Yip 69 104 0 11 Sep 2019
A Generalized Algorithm for Multi-Objective Reinforcement Learning and Policy Adaptation Runzhe Yang Xingyuan Sun Karthik Narasimhan 77 255 0 21 Aug 2019
Algorithms for Verifying Deep Neural Networks Changliu Liu Tomer Arnon Christopher Lazarus Christopher A. Strong Clark W. Barrett Mykel J. Kochenderfer AAML 94 400 0 15 Mar 2019
Open-Sourced Reinforcement Learning Environments for Surgical Robotics Florian Richter Ryan K. Orosco Michael C. Yip OffRL 64 81 0 05 Mar 2019
Manipulating Soft Tissues by Deep Reinforcement Learning for Autonomous Robotic Surgery Ngoc Duy Nguyen Thanh Nguyen S. Nahavandi Asim Bhatti Glenn Guest 54 43 0 14 Feb 2019
Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control Changyeob Shin P. Ferguson Sahba Aghajani Pedram Ji Ma E. Dutson J. Rosen 59 93 0 04 Feb 2019
Efficient Formal Safety Analysis of Neural Networks Shiqi Wang Kexin Pei Justin Whitehouse Junfeng Yang Suman Jana AAML 68 404 0 19 Sep 2018
Towards Fast Computation of Certified Robustness for ReLU Networks Tsui-Wei Weng Huan Zhang Hongge Chen Zhao Song Cho-Jui Hsieh Duane S. Boning Inderjit S. Dhillon Luca Daniel AAML 108 695 0 25 Apr 2018
Addressing Function Approximation Error in Actor-Critic Methods Scott Fujimoto H. V. Hoof David Meger OffRL 175 5,187 0 26 Feb 2018
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine 311 8,352 0 04 Jan 2018
Certifying Some Distributional Robustness with Principled Adversarial Training Aman Sinha Hongseok Namkoong Riccardo Volpi John C. Duchi OOD 125 863 0 29 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 499 19,065 0 20 Jul 2017
Reluplex: An Efficient SMT Solver for Verifying Deep Neural Networks Guy Katz Clark W. Barrett D. Dill Kyle D. Julian Mykel Kochenderfer AAML 318 1,868 0 03 Feb 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