Sihang Yang — accepted AI-conference papers

2025

Autonomous Bimanual Manipulation of Deformable Objects Using Deep Reinforcement Learning Guided Adaptive Control

Jiayi Liu, Sihang Yang, Yiwei Wang, Huan Zhao, Han Ding

ICRA 2025

Deformable object manipulation (DOM) which is a common subtask in various surgical procedures represents an inevitable challenge in robot-assisted surgery (RAS) due to complex nonlinear deformation. This paper proposes a deep reinforcement learning guided adaptive control (RLAC) modelfree framework,

Cited by 1 Source ↗Scholar ↗

2022

Autonomous Laparoscope Control for Minimally Invasive Surgery With Intuition and RCM Constraints

Sihang Yang, Yiwei Wang, Huan Zhao, Haoyuan Cheng, Han Ding

RA-L 2022

The automated laparoscope control can ensure the stability of the laparoscopic image and enhance the performance of surgeons during surgical operations. The letter presented a method that autonomously adjusted the laparoscope pose to obtain the optimal field of view (FOV). An optimization problem wa

Cited by 14 Source ↗Scholar ↗