惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

让小产品的独立变现更简单 - ezindie.com
让小产品的独立变现更简单 - ezindie.com
V
V2EX
小众软件
小众软件
MongoDB | Blog
MongoDB | Blog
Jina AI
Jina AI
G
Google Developers Blog
H
Help Net Security
Microsoft Azure Blog
Microsoft Azure Blog
月光博客
月光博客
The GitHub Blog
The GitHub Blog
Y
Y Combinator Blog
爱范儿
爱范儿
B
Blog
云风的 BLOG
云风的 BLOG
H
Hackread – Cybersecurity News, Data Breaches, AI and More
GbyAI
GbyAI
博客园 - 叶小钗
aimingoo的专栏
aimingoo的专栏
Blog — PlanetScale
Blog — PlanetScale
奇客Solidot–传递最新科技情报
奇客Solidot–传递最新科技情报
有赞技术团队
有赞技术团队
博客园_首页
Google DeepMind News
Google DeepMind News
M
MIT News - Artificial intelligence

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
SuFIA-BC: Generating High Quality Demonstration Data for ...
Masoud Moghani, Nigel Nelson, Mohamed Ghanem, Andres Diaz-Pinto, · 2025-04-21 · via cs.RO updates on arXiv.org

Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration errors present unique challenges for surgical robot learning. We provide an enhanced surgical digital twin with photorealistic human anatomical organs, integrated into a comprehensive simulator designed to generate high-quality synthetic data to solve fundamental tasks in surgical autonomy. We present SuFIA-BC: visual Behavior Cloning policies for Surgical First Interactive Autonomy Assistants. We investigate visual observation spaces including multi-view cameras and 3D visual representations extracted from a single endoscopic camera view. Through systematic evaluation, we find that the diverse set of photorealistic surgical tasks introduced in this work enables a comprehensive evaluation of prospective behavior cloning models for the unique challenges posed by surgical environments. We observe that current state-of-the-art behavior cloning techniques struggle to solve the contact-rich and complex tasks evaluated in this work, regardless of their underlying perception or control architectures. These findings highlight the importance of customizing perception pipelines and control architectures, as well as curating larger-scale synthetic datasets that meet the specific demands of surgical tasks. Project website: https://orbit-surgical.github.io/sufia-bc/