Artificial intelligence (AI) systems possess significant potential to drive societal progress.
However, their deployment often faces obstacles due to substantial safety concerns. Safe …

In this paper, we focus on single-demonstration imitation learning (IL), a practical approach
for real-world applications where obtaining numerous expert demonstrations is costly or …

Recent studies in surgical robotics have focused on automating common surgical subtasks
such as grasping and manipulation using deep reinforcement learning (DRL). In this work …

Bimanual tasks, where the brain must simultaneously control and plan the movements of
both hands, such as needle passing and tissue cutting, commonly exist in surgeries, eg …

Despite advancements in robotic-assisted surgery, automating complex tasks like suturing
remain challenging due to the need for adaptability and precision. Learning-based …

Surgical robot task automation has recently attracted great attention due to its potential to
benefit both surgeons and patients. Reinforcement learning (RL) based approaches have …

Soft-tissue needle steering, where a deformable needle is inserted into the tissue to guide its
tip to a desired position, is a common minimally invasive surgery (MIS) procedure. The …