Ultrasound-Guided Robotic Navigation with Deep Reinforcement Learning
Hannes Hase,Mohammad Farid Azampour,Maria Tirindelli,Magdalini Paschali,Walter Simson,Emad Fatemizadeh,Nassir Navab,Hannes Hase,Mohammad Farid Azampour,Maria Tirindelli,Magdalini Paschali,Walter Simson,Emad Fatemizadeh,Nassir Navab
In this paper we introduce the first reinforcement learning (RL) based robotic navigation method which utilizes ultrasound (US) images as an input. Our approach combines state-of-the-art RL techniques, specifically deep Q-networks (DQN) with memory buffers and a binary classifier for deciding when to terminate the task.Our method is trained and evaluated on an in-house collected data-set of 34 vol...
