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Mythra V. Balakuntala

4 accepted papers

2021

DESERTS: DElay-tolerant SEmi-autonomous Robot Teleoperation for Surgery

Glebys Gonzalez, Mridul Agarwal, Mythra V. Balakuntala, Md Masudur Rahman, Upinder Kaur, Richard M. Voyles +3
ICRA 2021poster

Telesurgery can be hindered by high-latency and low-bandwidth communication networks, often found in austere settings. Even delays of less than one second are known to negatively impact surgeries. To tackle the effects of connectivity associated with telerobotic surgeries, we propose the DESERTS fra…

Cited by 31Source ↗Scholar ↗
2021

Enhancing Safety of Students with Mobile Air Filtration during School Reopening from COVID-19

Haoguang Yang, Mythra V. Balakuntala, Abigayle E. Moser, Jhon J. Quiñones, Ali Doosttalab, Antonio Esquivel-Puentes +4
ICRA 2021poster

The paper discusses how robots enable occupant-safe continuous protection for students when schools reopen. Conventionally, fixed air filters are not used as a key pandemic prevention method for public indoor spaces because they are unable to trap the airborne pathogens in time in the entire room. H…

Cited by 5Source ↗Scholar ↗
2021

Learning Multimodal Contact-Rich Skills from Demonstrations Without Reward Engineering

Mythra V. Balakuntala, Upinder Kaur, Xin Ma, Juan Wachs, Richard M. Voyles
ICRA 2021poster

Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge to robots as they lack the ability to combine these multimodal stimuli for performing contact-rich tasks. Learning-base…

Cited by 12Source ↗Scholar ↗
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 Gonzalez, Jyothsna Padmakumar Bindu +7
IROS 2019poster

Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surgeries, skill assessment, and training. Simulated surgical environments can enhance the data collection process by making…

Cited by 38Source ↗code ↗Scholar ↗