Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation Using Reinforcement Learning.
Yafei OuMahdi TavakoliPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- reinforcement learning
- action selection
- minimally invasive surgery
- autonomous learning
- three dimensional
- tissue classification
- function approximation
- tissue deformation
- point sets
- surgical simulation
- minimally invasive
- soft tissue
- planning problems
- markov decision processes
- state space
- image analysis
- finite element
- partially observable
- real robot
- multi agent
- learning algorithm
- stochastic domains
- machine learning