IEEE

TDN-PPO: An Automatic Control Framework of a Surgical Robot for Posterior Segment Ophthalmic Surgery

Abstract: In ophthalmic surgery, particularly the procedures involving the posterior segment, clinicians face significant challenges in maintaining precise control of handheld instruments to peel ...
GitHub

One framework to evaluate any VLA model on any robot simulation benchmark.

Batch Parallel Evaluation Episode sharding + batched GPU inference → 47× throughput (2 000 LIBERO episodes in 18 min on 1× H100). Details Zero Setup Benchmarks in Docker, model servers as single-file ...
IEEE

Cooperative Control Framework for Dual-Arm Robot Enhanced by Vision Language Model and Reinforcement Learning

Abstract: This paper presents a cooperative control framework for dual-arm robots that integrates vision-language models (VLMs) with online reinforcement learning (RL) to enhance autonomy and ...