End-to-End Learning of Deep Visuomotor Policy for Needle Picking
Hongbin Lin,Bin Li,Xiangyu Chu,Qi Dou,Yunhui Liu,Kwok Wai Samuel Au,Hongbin Lin,Bin Li,Xiangyu Chu,Qi Dou,Yunhui Liu,Kwok Wai Samuel Au
Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes, and demands for millimeter-level control. Prior works, heavily relying on the prior of needles (e.g., geometric models), are hard to scale to unseen needles' variations. In this paper, we present the first end- to-end le...
