10 accepted papers
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platform designed to democratize robot learning at scale both in simulation and in the real world. By leveraging vectorized env…
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost required. Simulation and synthetic data generation have proven to b…
Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from calibrated RGBD cameras have been proposed as a way to mitigate…
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. By reducing operator dependency and enhancing access to complex anatomical regions, robotic ultrasound can help improve workflow efficiency. Recent studies have d…
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 t
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous suturing pipeline has yet to be demonstrated on physical hard…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present Orbit-Surgical, a physics-based surgical robot simulation framework with p…
In this work, we present SuFIA, the first framework for natural language-guided augmented dexterity for robotic surgical assistants. SuFIA incorporates the strong reasoning capabilities of large language models (LLMs) with perception modules to implement high-level planning and low-level control of…
Soft robotics has sought to emulate natural behaviors. One impressive ability of living systems is operating in confined and narrow pathways, from caterpillars to tapeworms. Among the soft actuators, dielectric elastomer actuators (DEAs) are suitable candidates for this ability with fully soft syste
In this paper, we present a new concept for generating magnetic field in Magneto-Rheological (MR) clutches intended for safe robotic applications. The main rationale behind this concept is to divide the magnetic field generation into two parts using an electromagnetic coil and a permanent magnet. Th