A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Paper introduces OTR for efficient offline RL in surgical robotics.
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in the Fundamentals of Laparoscopic Surgery. The gripper is used to pinch a point …
Evaluating surgeon skill has predominantly been a subjective task. Development of objective methods for surgical skill assessment are of increased interest. Recently, with technological advances such as robotic-assisted minimally invasive surgery (RMIS), new opportunities for objective and automated assessment framewor…
Paper proposes an active learning method for surgical workflow recognition using long-range temporal dependency.
Purpose: Manual feedback from senior surgeons observing less experienced trainees is a laborious task that is very expensive, time-consuming and prone to subjectivity. With the number of surgical procedures increasing annually, there is an unprecedented need to provide an accurate, objective and automatic evaluation of…
Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes exploration and constraint satisfaction challenging. We address these issues with a new model-based reinforcement learnin…
Automated surgical workflow analysis and understanding can assist surgeons to standardize procedures and enhance post-surgical assessment and indexing, as well as, interventional monitoring. Computer-assisted interventional (CAI) systems based on video can perform workflow estimation through surgical instruments' recog…
Objective: A median of 14.4% of patient undergone at least one adverse event during surgery and a third of them are preventable. The occurrence of adverse events forces surgeons to implement corrective strategies and, thus, deviate from the standard surgical process. Therefore, it is clear that the automatic identifica…
In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to estimate the probability of each predicted object in a given region and the confi…
Over the past one hundred years, the classic teaching methodology of "see one, do one, teach one" has governed the surgical education systems worldwide. With the advent of Operation Room 2.0, recording video, kinematic and many other types of data during the surgery became an easy task, thus allowing artificial intelli…
The paper uses facial keypoints to estimate post-surgical pain intensity.
PHASE predicts surgical complications from physiological signals.
We aim to create a framework for transfer learning using latent factor models to learn the dependence structure between a larger source dataset and a target dataset. The methodology is motivated by our goal of building a risk-assessment model for surgery patients, using both institutional and national surgical outcomes…
Vision algorithms capable of interpreting scenes from a real-time video stream are necessary for computer-assisted surgery systems to achieve context-aware behavior. In laparoscopic procedures one particular algorithm needed for such systems is the identification of surgical phases, for which the current state of the a…
3D shape instantiation which reconstructs the 3D shape of a target from limited 2D images or projections is an emerging technique for surgical intervention. It improves the currently less-informative and insufficient 2D navigation schemes for robot-assisted Minimally Invasive Surgery (MIS) to 3D navigation. Previously,…
We give a criterion under which a solution g(t) of the Kahler-Ricci flow contracts exceptional divisors on a compact manifold and can be uniquely continued on a new manifold. As t tends to the singular time T from each direction, we prove convergence of g(t) in the sense of Gromov-Hausdorff and smooth convergence away …
Despite spectacular advances in defining invariants for simply connected smooth and symplectic 4-dimensional manifolds and the discovery of effective surgical techniques, we still have been unable to classify simply connected smooth manifolds up to diffeomorphism. In these notes, adapted from six lectures given at the …
A large fraction of the electronic health records consists of clinical measurements collected over time, such as blood tests, which provide important information about the health status of a patient. These sequences of clinical measurements are naturally represented as time series, characterized by multiple variables a…
The study uses transfer learning to compare surgical outcomes across racial/ethnic subgroups.
Reducing the incidence of surgical site infections (SSIs) is one of the objectives of the French nosocomial infection control program. Manual monitoring of SSIs is carried out each year by the hospital hygiene team and surgeons at the University Hospital of Bordeaux. Our goal was to develop an automatic detection algor…
We augment linear Support Vector Machine (SVM) classifiers by adding three important features: (i) we introduce a regularization constraint to induce a sparse classifier; (ii) we devise a method that partitions the positive class into clusters and selects a sparse SVM classifier for each cluster; and (iii) we develop a…
It is well-known that any pair of closed orientable 3-manifolds are related by a finite sequence of Dehn surgeries on knots. Furthermore Kawauchi showed that such knots can be taken to be hyperbolic. In this article, we consider the minimal length of such sequences connecting a pair of 3-manifolds, in particular, a pai…
Bayesian models can be tricked into believing false data.
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperati…
Robotics: Rolling robots on a moving platform can be controlled.
We prove that a general complex Monge-Ampère flow on a Hermitian manifold can be run from an arbitrary initial condition with zero Lelong number at all points. Using this property, we confirm a conjecture of Tosatti-Weinkove: the Chern-Ricci flow performs a canonical surgical contraction. Finally, we study a generaliza…
The premorbid geometry of the mandible is of significant relevance in jaw reconstructive surgeries and occasionally unknown to the surgical team. In this paper, an optimization framework is introduced to train deep models for completion (reconstruction) of the missing segments of the bone based on the remaining healthy…
The morphometry of a kidney tumor revealed by contrast-enhanced Computed Tomography (CT) imaging is an important factor in clinical decision making surrounding the lesion's diagnosis and treatment. Quantitative study of the relationship between kidney tumor morphology and clinical outcomes is difficult due to data scar…
New method improves smoothness of robot learning.
Robots learn to navigate rough terrain using reinforcement learning.
A new framework for robot block-stacking tasks using causal probabilistic models.
This research evaluates learning models for bionic robots, focusing on transfer function identification.
Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more human-like behaviour and intelligence when applied to the robots. To explore this capa…
ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, …
Paper addresses hypothesis space misspecification in learning from human demonstrations and corrections.
We prove a monotonicity formula for mean curvature flow with surgery. This formula differs from Huisken's monotonicity formula by an extra term involving the mean curvature. As a consequence, we show that a surgically modified flow which is sufficiently close to a smooth flow in the sense of geometric measure theory is…
For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal Deep Q-Network (MDQN) to enable a robot to learn human-like interaction skills thr…
Deep learning models predict postoperative complications more accurately than random forests.
The paper learns robot skills from demonstrations without supervision.
This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take significant time. In this paper, we focus on learning a realistic world model capturi…
Study aims to develop a humanoid robot dialogue system.
Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods that keep track of uncertainty over the objective fail because they reason about …
Top 8 robotic vision systems tackled lifelong object recognition challenges.
Paper proposes a method to control robots of different shapes efficiently.
For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social intera…
Reinforcement learning is a promising approach to developing hard-to-engineer adaptive solutions for complex and diverse robotic tasks. However, learning with real-world robots is often unreliable and difficult, which resulted in their low adoption in reinforcement learning research. This difficulty is worsened by the …
A new optimizer d-AmsGrad improves deep learning for robot learning in non-stationary problems.